(1
 (
  ("(x(agent1) 5)" 25 365)
  ("(x(agent1) 4)" 365 446)
  ("(x(agent1) 3)" 446 530)
  ("(x(agent1) 2)" 530 696)
  ("(x(agent1) 1)" 696 769)
  ("(x(agent1) 2)" 769 2157)
  ("(x(agent1) up)" 26 705)
  ("(x(agent1) stable)" 705 758)
  ("(x(agent1) down)" 758 878)
  ("(x(agent1) stable)" 878 890)
  ("(x(agent1) up)" 890 918)
  ("(x(agent1) stable)" 918 931)
  ("(x(agent1) down)" 931 961)
  ("(x(agent1) stable)" 961 976)
  ("(x(agent1) up)" 976 1030)
  ("(x(agent1) stable)" 1030 1043)
  ("(x(agent1) down)" 1043 1096)
  ("(x(agent1) stable)" 1096 1109)
  ("(x(agent1) up)" 1109 1137)
  ("(x(agent1) stable)" 1137 1151)
  ("(x(agent1) down)" 1151 1182)
  ("(x(agent1) stable)" 1182 1198)
  ("(x(agent1) up)" 1198 1230)
  ("(x(agent1) stable)" 1230 1244)
  ("(x(agent1) down)" 1244 1276)
  ("(x(agent1) stable)" 1276 1291)
  ("(x(agent1) up)" 1291 1326)
  ("(x(agent1) stable)" 1326 1340)
  ("(x(agent1) down)" 1340 1374)
  ("(x(agent1) stable)" 1374 1388)
  ("(x(agent1) up)" 1388 1428)
  ("(x(agent1) stable)" 1428 1441)
  ("(x(agent1) down)" 1441 1481)
  ("(x(agent1) stable)" 1481 1494)
  ("(x(agent1) up)" 1494 1535)
  ("(x(agent1) stable)" 1535 1549)
  ("(x(agent1) down)" 1549 1591)
  ("(x(agent1) stable)" 1591 1603)
  ("(x(agent1) up)" 1603 1642)
  ("(x(agent1) stable)" 1642 1655)
  ("(x(agent1) down)" 1655 1694)
  ("(x(agent1) stable)" 1694 1707)
  ("(x(agent1) up)" 1707 1747)
  ("(x(agent1) stable)" 1747 1760)
  ("(x(agent1) down)" 1760 1800)
  ("(x(agent1) stable)" 1800 1814)
  ("(x(agent1) up)" 1814 1843)
  ("(x(agent1) stable)" 1843 1856)
  ("(x(agent1) down)" 1856 1884)
  ("(x(agent1) stable)" 1884 1898)
  ("(x(agent1) up)" 1898 1936)
  ("(x(agent1) stable)" 1936 1948)
  ("(x(agent1) down)" 1948 1983)
  ("(x(agent1) stable)" 1983 1994)
  ("(x(agent1) up)" 1994 2036)
  ("(x(agent1) stable)" 2036 2047)
  ("(x(agent1) down)" 2047 2087)
  ("(x(agent1) stable)" 2087 2099)
  ("(x(agent1) up)" 2099 2134)
  ("(x(agent1) stable)" 2134 2145)
  ("(x(agent1) down)" 2145 2157)
  ("(y(agent1) 5)" 25 597)
  ("(y(agent1) 4)" 597 694)
  ("(y(agent1) 3)" 694 772)
  ("(y(agent1) 2)" 772 2157)
  ("(y(agent1) down)" 26 247)
  ("(y(agent1) stable)" 247 328)
  ("(y(agent1) up)" 328 899)
  ("(y(agent1) stable)" 899 2157)
  ("(speed(agent1) 4)" 25 40)
  ("(speed(agent1) 3)" 40 58)
  ("(speed(agent1) 2)" 58 95)
  ("(speed(agent1) 1)" 95 859)
  ("(speed(agent1) 2)" 859 880)
  ("(speed(agent1) 3)" 880 891)
  ("(speed(agent1) 4)" 891 902)
  ("(speed(agent1) 5)" 902 952)
  ("(speed(agent1) 4)" 952 1019)
  ("(speed(agent1) 5)" 1019 1057)
  ("(speed(agent1) 4)" 1057 1116)
  ("(speed(agent1) 5)" 1116 1173)
  ("(speed(agent1) 4)" 1173 1206)
  ("(speed(agent1) 5)" 1206 1269)
  ("(speed(agent1) 4)" 1269 1300)
  ("(speed(agent1) 5)" 1300 1360)
  ("(speed(agent1) 4)" 1360 1407)
  ("(speed(agent1) 5)" 1407 1456)
  ("(speed(agent1) 4)" 1456 1517)
  ("(speed(agent1) 5)" 1517 1563)
  ("(speed(agent1) 4)" 1563 1620)
  ("(speed(agent1) 5)" 1620 1669)
  ("(speed(agent1) 4)" 1669 1727)
  ("(speed(agent1) 5)" 1727 1775)
  ("(speed(agent1) 4)" 1775 1823)
  ("(speed(agent1) 5)" 1823 1872)
  ("(speed(agent1) 4)" 1872 1926)
  ("(speed(agent1) 5)" 1926 1955)
  ("(speed(agent1) 4)" 1955 1990)
  ("(speed(agent1) 3)" 1990 2001)
  ("(speed(agent1) 4)" 2001 2033)
  ("(speed(agent1) 5)" 2033 2054)
  ("(speed(agent1) 4)" 2054 2085)
  ("(speed(agent1) 3)" 2085 2100)
  ("(speed(agent1) 4)" 2100 2124)
  ("(speed(agent1) 5)" 2124 2152)
  ("(speed(agent1) 4)" 2152 2157)
  ("(speed(agent1) up)" 26 204)
  ("(speed(agent1) stable)" 204 741)
  ("(speed(agent1) down)" 741 802)
  ("(speed(agent1) stable)" 802 809)
  ("(speed(agent1) up)" 809 850)
  ("(speed(agent1) down)" 850 928)
  ("(speed(agent1) stable)" 928 929)
  ("(speed(agent1) up)" 929 987)
  ("(speed(agent1) stable)" 987 988)
  ("(speed(agent1) down)" 988 992)
  ("(speed(agent1) up)" 992 998)
  ("(speed(agent1) stable)" 998 999)
  ("(speed(agent1) down)" 999 1041)
  ("(speed(agent1) up)" 1041 1070)
  ("(speed(agent1) stable)" 1070 1097)
  ("(speed(agent1) down)" 1097 1149)
  ("(speed(agent1) up)" 1149 1161)
  ("(speed(agent1) stable)" 1161 1162)
  ("(speed(agent1) up)" 1162 1193)
  ("(speed(agent1) stable)" 1193 1194)
  ("(speed(agent1) down)" 1194 1242)
  ("(speed(agent1) up)" 1242 1254)
  ("(speed(agent1) stable)" 1254 1256)
  ("(speed(agent1) up)" 1256 1288)
  ("(speed(agent1) stable)" 1288 1289)
  ("(speed(agent1) down)" 1289 1338)
  ("(speed(agent1) up)" 1338 1388)
  ("(speed(agent1) stable)" 1388 1389)
  ("(speed(agent1) down)" 1389 1439)
  ("(speed(agent1) stable)" 1439 1440)
  ("(speed(agent1) up)" 1440 1494)
  ("(speed(agent1) stable)" 1494 1495)
  ("(speed(agent1) down)" 1495 1546)
  ("(speed(agent1) stable)" 1546 1547)
  ("(speed(agent1) up)" 1547 1601)
  ("(speed(agent1) stable)" 1601 1602)
  ("(speed(agent1) down)" 1602 1653)
  ("(speed(agent1) stable)" 1653 1654)
  ("(speed(agent1) up)" 1654 1706)
  ("(speed(agent1) stable)" 1706 1707)
  ("(speed(agent1) down)" 1707 1758)
  ("(speed(agent1) stable)" 1758 1759)
  ("(speed(agent1) up)" 1759 1807)
  ("(speed(agent1) stable)" 1807 1808)
  ("(speed(agent1) down)" 1808 1832)
  ("(speed(agent1) stable)" 1832 1838)
  ("(speed(agent1) up)" 1838 1863)
  ("(speed(agent1) down)" 1863 1867)
  ("(speed(agent1) up)" 1867 1899)
  ("(speed(agent1) down)" 1899 1947)
  ("(speed(agent1) up)" 1947 1996)
  ("(speed(agent1) down)" 1996 2046)
  ("(speed(agent1) up)" 2046 2094)
  ("(speed(agent1) down)" 2094 2144)
  ("(speed(agent1) up)" 2144 2157)
  ("(heading(agent1) 1)" 50 239)
  ("(heading(agent1) 5)" 239 726)
  ("(heading(agent1) 4)" 726 824)
  ("(heading(agent1) 3)" 824 929)
  ("(heading(agent1) 2)" 929 1039)
  ("(heading(agent1) 3)" 1039 1077)
  ("(heading(agent1) 2)" 1077 2132)
  ("(heading(agent1) up)" 51 962)
  ("(heading(agent1) stable)" 962 973)
  ("(heading(agent1) down)" 973 1016)
  ("(heading(agent1) stable)" 1016 2132)
  ("(energy(agent1) 1)" 25 867)
  ("(energy(agent1) 2)" 867 1113)
  ("(energy(agent1) 3)" 1113 1368)
  ("(energy(agent1) 4)" 1368 1675)
  ("(energy(agent1) 5)" 1675 2157)
  ("(energy(agent1) stable)" 26 851)
  ("(energy(agent1) down)" 851 902)
  ("(energy(agent1) stable)" 902 942)
  ("(energy(agent1) down)" 942 993)
  ("(energy(agent1) stable)" 993 1071)
  ("(energy(agent1) down)" 1071 1122)
  ("(energy(agent1) stable)" 1122 1162)
  ("(energy(agent1) down)" 1162 1213)
  ("(energy(agent1) stable)" 1213 1255)
  ("(energy(agent1) down)" 1255 1306)
  ("(energy(agent1) stable)" 1306 1353)
  ("(energy(agent1) down)" 1353 1404)
  ("(energy(agent1) stable)" 1404 1459)
  ("(energy(agent1) down)" 1459 1510)
  ("(energy(agent1) stable)" 1510 1568)
  ("(energy(agent1) down)" 1568 1619)
  ("(energy(agent1) stable)" 1619 1672)
  ("(energy(agent1) down)" 1672 1723)
  ("(energy(agent1) stable)" 1723 1778)
  ("(energy(agent1) down)" 1778 1829)
  ("(energy(agent1) stable)" 1829 1864)
  ("(energy(agent1) down)" 1864 1915)
  ("(energy(agent1) stable)" 1915 1961)
  ("(energy(agent1) down)" 1961 2012)
  ("(energy(agent1) stable)" 2012 2064)
  ("(energy(agent1) down)" 2064 2115)
  ("(energy(agent1) stable)" 2115 2157)
  ("(arousal(agent1) 4)" 25 67)
  ("(arousal(agent1) 5)" 67 855)
  ("(arousal(agent1) 4)" 855 890)
  ("(arousal(agent1) 3)" 890 970)
  ("(arousal(agent1) 2)" 970 1109)
  ("(arousal(agent1) 1)" 1109 1452)
  ("(arousal(agent1) 2)" 1452 1462)
  ("(arousal(agent1) 1)" 1462 1771)
  ("(arousal(agent1) 2)" 1771 1781)
  ("(arousal(agent1) 1)" 1781 2157)
  ("(arousal(agent1) down)" 26 439)
  ("(arousal(agent1) stable)" 439 459)
  ("(arousal(agent1) up)" 459 538)
  ("(arousal(agent1) stable)" 538 558)
  ("(arousal(agent1) down)" 558 655)
  ("(arousal(agent1) stable)" 655 676)
  ("(arousal(agent1) up)" 676 929)
  ("(arousal(agent1) stable)" 929 941)
  ("(arousal(agent1) up)" 941 992)
  ("(arousal(agent1) down)" 992 1046)
  ("(arousal(agent1) stable)" 1046 1066)
  ("(arousal(agent1) up)" 1066 1121)
  ("(arousal(agent1) stable)" 1121 1139)
  ("(arousal(agent1) down)" 1139 1161)
  ("(arousal(agent1) stable)" 1161 1212)
  ("(arousal(agent1) down)" 1212 1254)
  ("(arousal(agent1) up)" 1254 1305)
  ("(arousal(agent1) down)" 1305 1352)
  ("(arousal(agent1) up)" 1352 1403)
  ("(arousal(agent1) down)" 1403 1458)
  ("(arousal(agent1) up)" 1458 1509)
  ("(arousal(agent1) down)" 1509 1531)
  ("(arousal(agent1) stable)" 1531 1551)
  ("(arousal(agent1) up)" 1551 1592)
  ("(arousal(agent1) stable)" 1592 1632)
  ("(arousal(agent1) down)" 1632 1671)
  ("(arousal(agent1) stable)" 1671 1722)
  ("(arousal(agent1) down)" 1722 1777)
  ("(arousal(agent1) up)" 1777 1828)
  ("(arousal(agent1) down)" 1828 1863)
  ("(arousal(agent1) up)" 1863 1914)
  ("(arousal(agent1) down)" 1914 1926)
  ("(arousal(agent1) stable)" 1926 1946)
  ("(arousal(agent1) up)" 1946 1983)
  ("(arousal(agent1) stable)" 1983 2021)
  ("(arousal(agent1) down)" 2021 2037)
  ("(arousal(agent1) stable)" 2037 2072)
  ("(arousal(agent1) up)" 2072 2088)
  ("(arousal(agent1) stable)" 2088 2157)
  ("(valence(agent1) 5)" 25 863)
  ("(valence(agent1) 4)" 863 886)
  ("(valence(agent1) 3)" 886 954)
  ("(valence(agent1) 2)" 954 989)
  ("(valence(agent1) 1)" 989 1009)
  ("(valence(agent1) 2)" 1009 1101)
  ("(valence(agent1) 1)" 1101 1159)
  ("(valence(agent1) 2)" 1159 1163)
  ("(valence(agent1) 1)" 1163 1250)
  ("(valence(agent1) 2)" 1250 1258)
  ("(valence(agent1) 1)" 1258 1343)
  ("(valence(agent1) 2)" 1343 1361)
  ("(valence(agent1) 1)" 1361 1441)
  ("(valence(agent1) 2)" 1441 1473)
  ("(valence(agent1) 1)" 1473 1547)
  ("(valence(agent1) 2)" 1547 1584)
  ("(valence(agent1) 1)" 1584 1656)
  ("(valence(agent1) 2)" 1656 1685)
  ("(valence(agent1) 1)" 1685 1760)
  ("(valence(agent1) 2)" 1760 1792)
  ("(valence(agent1) 1)" 1792 1952)
  ("(valence(agent1) 2)" 1952 1968)
  ("(valence(agent1) 1)" 1968 2049)
  ("(valence(agent1) 2)" 2049 2076)
  ("(valence(agent1) 1)" 2076 2152)
  ("(valence(agent1) 2)" 2152 2157)
  ("(valence(agent1) stable)" 26 850)
  ("(valence(agent1) up)" 850 901)
  ("(valence(agent1) down)" 901 941)
  ("(valence(agent1) up)" 941 992)
  ("(valence(agent1) down)" 992 1070)
  ("(valence(agent1) up)" 1070 1121)
  ("(valence(agent1) down)" 1121 1161)
  ("(valence(agent1) up)" 1161 1212)
  ("(valence(agent1) down)" 1212 1254)
  ("(valence(agent1) up)" 1254 1305)
  ("(valence(agent1) down)" 1305 1352)
  ("(valence(agent1) up)" 1352 1403)
  ("(valence(agent1) down)" 1403 1458)
  ("(valence(agent1) up)" 1458 1509)
  ("(valence(agent1) down)" 1509 1567)
  ("(valence(agent1) up)" 1567 1618)
  ("(valence(agent1) down)" 1618 1671)
  ("(valence(agent1) up)" 1671 1722)
  ("(valence(agent1) down)" 1722 1777)
  ("(valence(agent1) up)" 1777 1828)
  ("(valence(agent1) down)" 1828 1863)
  ("(valence(agent1) up)" 1863 1914)
  ("(valence(agent1) down)" 1914 1960)
  ("(valence(agent1) up)" 1960 2011)
  ("(valence(agent1) down)" 2011 2063)
  ("(valence(agent1) up)" 2063 2114)
  ("(valence(agent1) down)" 2114 2157)
  ("(goal(agent1) WanderGoal)" 0 763)
  ("(goal(agent1) PursueGoal)" 763 2182)
  ("(state(agent1) wander)" 0 763)
  ("(state(agent1) charge)" 763 874)
  ("(state(agent1) back-away)" 874 899)
  ("(state(agent1) charge)" 899 965)
  ("(state(agent1) back-away)" 965 1008)
  ("(state(agent1) charge)" 1008 1094)
  ("(state(agent1) back-away)" 1094 1120)
  ("(state(agent1) charge)" 1120 1185)
  ("(state(agent1) back-away)" 1185 1213)
  ("(state(agent1) charge)" 1213 1279)
  ("(state(agent1) back-away)" 1279 1309)
  ("(state(agent1) charge)" 1309 1376)
  ("(state(agent1) back-away)" 1376 1409)
  ("(state(agent1) charge)" 1409 1482)
  ("(state(agent1) back-away)" 1482 1516)
  ("(state(agent1) charge)" 1516 1591)
  ("(state(agent1) back-away)" 1591 1623)
  ("(state(agent1) charge)" 1623 1695)
  ("(state(agent1) back-away)" 1695 1728)
  ("(state(agent1) charge)" 1728 1801)
  ("(state(agent1) back-away)" 1801 1828)
  ("(state(agent1) charge)" 1828 1888)
  ("(state(agent1) back-away)" 1888 1918)
  ("(state(agent1) charge)" 1918 1984)
  ("(state(agent1) back-away)" 1984 2016)
  ("(state(agent1) charge)" 2016 2087)
  ("(state(agent1) back-away)" 2087 2115)
  ("(state(agent1) charge)" 2115 2181)
  ("(state(agent1) back-away)" 2181 2182)
  ("(x(agent2) 5)" 787 853)
  ("(x(agent2) 4)" 853 862)
  ("(x(agent2) 3)" 862 872)
  ("(x(agent2) 2)" 872 903)
  ("(x(agent2) 3)" 903 939)
  ("(x(agent2) 2)" 939 992)
  ("(x(agent2) 3)" 992 1004)
  ("(x(agent2) 4)" 1004 1022)
  ("(x(agent2) 5)" 1022 1050)
  ("(x(agent2) 4)" 1050 1067)
  ("(x(agent2) 3)" 1067 1079)
  ("(x(agent2) 2)" 1079 1129)
  ("(x(agent2) 3)" 1129 1157)
  ("(x(agent2) 2)" 1157 1219)
  ("(x(agent2) 3)" 1219 1253)
  ("(x(agent2) 2)" 1253 1311)
  ("(x(agent2) 3)" 1311 1353)
  ("(x(agent2) 2)" 1353 1405)
  ("(x(agent2) 3)" 1405 1425)
  ("(x(agent2) 4)" 1425 1443)
  ("(x(agent2) 3)" 1443 1462)
  ("(x(agent2) 2)" 1462 1510)
  ("(x(agent2) 3)" 1510 1527)
  ("(x(agent2) 4)" 1527 1556)
  ("(x(agent2) 3)" 1556 1572)
  ("(x(agent2) 2)" 1572 1619)
  ("(x(agent2) 3)" 1619 1639)
  ("(x(agent2) 4)" 1639 1657)
  ("(x(agent2) 3)" 1657 1676)
  ("(x(agent2) 2)" 1676 1723)
  ("(x(agent2) 3)" 1723 1742)
  ("(x(agent2) 4)" 1742 1765)
  ("(x(agent2) 3)" 1765 1782)
  ("(x(agent2) 2)" 1782 1832)
  ("(x(agent2) 3)" 1832 1865)
  ("(x(agent2) 2)" 1865 1914)
  ("(x(agent2) 3)" 1914 1933)
  ("(x(agent2) 4)" 1933 1949)
  ("(x(agent2) 3)" 1949 1967)
  ("(x(agent2) 2)" 1967 2008)
  ("(x(agent2) 3)" 2008 2022)
  ("(x(agent2) 4)" 2022 2059)
  ("(x(agent2) 3)" 2059 2072)
  ("(x(agent2) 2)" 2072 2113)
  ("(x(agent2) 3)" 2113 2133)
  ("(x(agent2) 4)" 2133 2144)
  ("(x(agent2) 3)" 2144 2157)
  ("(x(agent2) up)" 788 887)
  ("(x(agent2) stable)" 887 888)
  ("(x(agent2) down)" 888 922)
  ("(x(agent2) stable)" 922 923)
  ("(x(agent2) up)" 923 969)
  ("(x(agent2) stable)" 969 970)
  ("(x(agent2) down)" 970 1036)
  ("(x(agent2) stable)" 1036 1037)
  ("(x(agent2) up)" 1037 1102)
  ("(x(agent2) stable)" 1102 1103)
  ("(x(agent2) down)" 1103 1144)
  ("(x(agent2) stable)" 1144 1145)
  ("(x(agent2) up)" 1145 1189)
  ("(x(agent2) stable)" 1189 1190)
  ("(x(agent2) down)" 1190 1237)
  ("(x(agent2) stable)" 1237 1238)
  ("(x(agent2) up)" 1238 1283)
  ("(x(agent2) stable)" 1283 1285)
  ("(x(agent2) down)" 1285 1333)
  ("(x(agent2) stable)" 1333 1334)
  ("(x(agent2) up)" 1334 1381)
  ("(x(agent2) stable)" 1381 1382)
  ("(x(agent2) down)" 1382 1434)
  ("(x(agent2) stable)" 1434 1435)
  ("(x(agent2) up)" 1435 1487)
  ("(x(agent2) stable)" 1487 1488)
  ("(x(agent2) down)" 1488 1542)
  ("(x(agent2) stable)" 1542 1543)
  ("(x(agent2) up)" 1543 1596)
  ("(x(agent2) stable)" 1596 1597)
  ("(x(agent2) down)" 1597 1648)
  ("(x(agent2) stable)" 1648 1649)
  ("(x(agent2) up)" 1649 1700)
  ("(x(agent2) stable)" 1700 1701)
  ("(x(agent2) down)" 1701 1753)
  ("(x(agent2) stable)" 1753 1754)
  ("(x(agent2) up)" 1754 1806)
  ("(x(agent2) stable)" 1806 1807)
  ("(x(agent2) down)" 1807 1849)
  ("(x(agent2) stable)" 1849 1850)
  ("(x(agent2) up)" 1850 1891)
  ("(x(agent2) stable)" 1891 1892)
  ("(x(agent2) down)" 1892 1941)
  ("(x(agent2) stable)" 1941 1942)
  ("(x(agent2) up)" 1942 1989)
  ("(x(agent2) stable)" 1989 1990)
  ("(x(agent2) down)" 1990 2041)
  ("(x(agent2) stable)" 2041 2042)
  ("(x(agent2) up)" 2042 2092)
  ("(x(agent2) stable)" 2092 2093)
  ("(x(agent2) down)" 2093 2139)
  ("(x(agent2) stable)" 2139 2140)
  ("(x(agent2) up)" 2140 2157)
  ("(y(agent2) 1)" 787 865)
  ("(y(agent2) 2)" 865 876)
  ("(y(agent2) 3)" 876 887)
  ("(y(agent2) 4)" 887 943)
  ("(y(agent2) 3)" 943 964)
  ("(y(agent2) 2)" 964 1012)
  ("(y(agent2) 3)" 1012 1075)
  ("(y(agent2) 2)" 1075 1104)
  ("(y(agent2) 3)" 1104 1371)
  ("(y(agent2) 2)" 1371 1388)
  ("(y(agent2) 3)" 1388 1530)
  ("(y(agent2) 4)" 1530 1551)
  ("(y(agent2) 3)" 1551 1639)
  ("(y(agent2) 4)" 1639 1660)
  ("(y(agent2) 3)" 1660 1731)
  ("(y(agent2) 4)" 1731 1777)
  ("(y(agent2) 3)" 1777 1831)
  ("(y(agent2) 4)" 1831 1874)
  ("(y(agent2) 3)" 1874 1900)
  ("(y(agent2) 4)" 1900 1931)
  ("(y(agent2) 5)" 1931 1957)
  ("(y(agent2) 4)" 1957 2009)
  ("(y(agent2) 5)" 2009 2157)
  ("(y(agent2) down)" 788 913)
  ("(y(agent2) stable)" 913 914)
  ("(y(agent2) up)" 914 984)
  ("(y(agent2) stable)" 984 986)
  ("(y(agent2) down)" 986 1041)
  ("(y(agent2) stable)" 1041 1046)
  ("(y(agent2) up)" 1046 1089)
  ("(y(agent2) stable)" 1089 1093)
  ("(y(agent2) down)" 1093 1144)
  ("(y(agent2) stable)" 1144 1146)
  ("(y(agent2) up)" 1146 1191)
  ("(y(agent2) stable)" 1191 1195)
  ("(y(agent2) down)" 1195 1236)
  ("(y(agent2) stable)" 1236 1239)
  ("(y(agent2) up)" 1239 1282)
  ("(y(agent2) stable)" 1282 1286)
  ("(y(agent2) down)" 1286 1331)
  ("(y(agent2) stable)" 1331 1334)
  ("(y(agent2) up)" 1334 1379)
  ("(y(agent2) stable)" 1379 1382)
  ("(y(agent2) down)" 1382 1434)
  ("(y(agent2) stable)" 1434 1437)
  ("(y(agent2) up)" 1437 1486)
  ("(y(agent2) stable)" 1486 1488)
  ("(y(agent2) down)" 1488 1540)
  ("(y(agent2) stable)" 1540 1542)
  ("(y(agent2) up)" 1542 1595)
  ("(y(agent2) stable)" 1595 1597)
  ("(y(agent2) down)" 1597 1649)
  ("(y(agent2) stable)" 1649 1651)
  ("(y(agent2) up)" 1651 1698)
  ("(y(agent2) stable)" 1698 1700)
  ("(y(agent2) down)" 1700 1754)
  ("(y(agent2) stable)" 1754 1756)
  ("(y(agent2) up)" 1756 1804)
  ("(y(agent2) stable)" 1804 1806)
  ("(y(agent2) down)" 1806 1851)
  ("(y(agent2) stable)" 1851 1853)
  ("(y(agent2) up)" 1853 1887)
  ("(y(agent2) stable)" 1887 1890)
  ("(y(agent2) down)" 1890 1944)
  ("(y(agent2) stable)" 1944 1946)
  ("(y(agent2) up)" 1946 1986)
  ("(y(agent2) stable)" 1986 1988)
  ("(y(agent2) down)" 1988 2043)
  ("(y(agent2) stable)" 2043 2045)
  ("(y(agent2) up)" 2045 2091)
  ("(y(agent2) stable)" 2091 2093)
  ("(y(agent2) down)" 2093 2139)
  ("(y(agent2) stable)" 2139 2141)
  ("(y(agent2) up)" 2141 2157)
  ("(speed(agent2) 1)" 787 887)
  ("(speed(agent2) 2)" 887 892)
  ("(speed(agent2) 3)" 892 897)
  ("(speed(agent2) 4)" 897 913)
  ("(speed(agent2) 5)" 913 931)
  ("(speed(agent2) 4)" 931 951)
  ("(speed(agent2) 3)" 951 980)
  ("(speed(agent2) 2)" 980 991)
  ("(speed(agent2) 3)" 991 992)
  ("(speed(agent2) 2)" 992 1004)
  ("(speed(agent2) 3)" 1004 1016)
  ("(speed(agent2) 4)" 1016 1034)
  ("(speed(agent2) 5)" 1034 1047)
  ("(speed(agent2) 4)" 1047 1058)
  ("(speed(agent2) 3)" 1058 1065)
  ("(speed(agent2) 2)" 1065 1107)
  ("(speed(agent2) 3)" 1107 1115)
  ("(speed(agent2) 4)" 1115 1133)
  ("(speed(agent2) 5)" 1133 1155)
  ("(speed(agent2) 4)" 1155 1177)
  ("(speed(agent2) 3)" 1177 1205)
  ("(speed(agent2) 4)" 1205 1226)
  ("(speed(agent2) 5)" 1226 1249)
  ("(speed(agent2) 4)" 1249 1273)
  ("(speed(agent2) 3)" 1273 1299)
  ("(speed(agent2) 4)" 1299 1325)
  ("(speed(agent2) 5)" 1325 1344)
  ("(speed(agent2) 4)" 1344 1363)
  ("(speed(agent2) 3)" 1363 1402)
  ("(speed(agent2) 4)" 1402 1431)
  ("(speed(agent2) 5)" 1431 1446)
  ("(speed(agent2) 4)" 1446 1457)
  ("(speed(agent2) 3)" 1457 1487)
  ("(speed(agent2) 2)" 1487 1499)
  ("(speed(agent2) 3)" 1499 1514)
  ("(speed(agent2) 4)" 1514 1539)
  ("(speed(agent2) 5)" 1539 1553)
  ("(speed(agent2) 4)" 1553 1564)
  ("(speed(agent2) 3)" 1564 1591)
  ("(speed(agent2) 2)" 1591 1607)
  ("(speed(agent2) 3)" 1607 1617)
  ("(speed(agent2) 4)" 1617 1644)
  ("(speed(agent2) 5)" 1644 1660)
  ("(speed(agent2) 4)" 1660 1671)
  ("(speed(agent2) 3)" 1671 1702)
  ("(speed(agent2) 2)" 1702 1710)
  ("(speed(agent2) 3)" 1710 1722)
  ("(speed(agent2) 4)" 1722 1750)
  ("(speed(agent2) 5)" 1750 1765)
  ("(speed(agent2) 4)" 1765 1776)
  ("(speed(agent2) 3)" 1776 1803)
  ("(speed(agent2) 2)" 1803 1812)
  ("(speed(agent2) 3)" 1812 1822)
  ("(speed(agent2) 4)" 1822 1874)
  ("(speed(agent2) 3)" 1874 1888)
  ("(speed(agent2) 2)" 1888 1907)
  ("(speed(agent2) 3)" 1907 1920)
  ("(speed(agent2) 4)" 1920 1957)
  ("(speed(agent2) 3)" 1957 1972)
  ("(speed(agent2) 2)" 1972 2010)
  ("(speed(agent2) 3)" 2010 2028)
  ("(speed(agent2) 4)" 2028 2056)
  ("(speed(agent2) 3)" 2056 2064)
  ("(speed(agent2) 2)" 2064 2090)
  ("(speed(agent2) 1)" 2090 2097)
  ("(speed(agent2) 2)" 2097 2109)
  ("(speed(agent2) 3)" 2109 2118)
  ("(speed(agent2) 4)" 2118 2154)
  ("(speed(agent2) 3)" 2154 2157)
  ("(speed(agent2) down)" 788 796)
  ("(speed(agent2) stable)" 796 806)
  ("(speed(agent2) up)" 806 850)
  ("(speed(agent2) down)" 850 927)
  ("(speed(agent2) up)" 927 987)
  ("(speed(agent2) down)" 987 992)
  ("(speed(agent2) up)" 992 998)
  ("(speed(agent2) stable)" 998 999)
  ("(speed(agent2) down)" 999 1041)
  ("(speed(agent2) up)" 1041 1070)
  ("(speed(agent2) down)" 1070 1090)
  ("(speed(agent2) stable)" 1090 1097)
  ("(speed(agent2) down)" 1097 1149)
  ("(speed(agent2) up)" 1149 1161)
  ("(speed(agent2) stable)" 1161 1162)
  ("(speed(agent2) up)" 1162 1193)
  ("(speed(agent2) stable)" 1193 1194)
  ("(speed(agent2) down)" 1194 1242)
  ("(speed(agent2) up)" 1242 1254)
  ("(speed(agent2) stable)" 1254 1256)
  ("(speed(agent2) up)" 1256 1289)
  ("(speed(agent2) down)" 1289 1338)
  ("(speed(agent2) up)" 1338 1388)
  ("(speed(agent2) stable)" 1388 1389)
  ("(speed(agent2) down)" 1389 1439)
  ("(speed(agent2) stable)" 1439 1440)
  ("(speed(agent2) up)" 1440 1494)
  ("(speed(agent2) stable)" 1494 1495)
  ("(speed(agent2) down)" 1495 1547)
  ("(speed(agent2) up)" 1547 1601)
  ("(speed(agent2) down)" 1601 1653)
  ("(speed(agent2) stable)" 1653 1654)
  ("(speed(agent2) up)" 1654 1707)
  ("(speed(agent2) down)" 1707 1758)
  ("(speed(agent2) stable)" 1758 1759)
  ("(speed(agent2) up)" 1759 1808)
  ("(speed(agent2) down)" 1808 1833)
  ("(speed(agent2) stable)" 1833 1837)
  ("(speed(agent2) up)" 1837 1863)
  ("(speed(agent2) down)" 1863 1867)
  ("(speed(agent2) up)" 1867 1899)
  ("(speed(agent2) down)" 1899 1947)
  ("(speed(agent2) up)" 1947 1996)
  ("(speed(agent2) down)" 1996 2046)
  ("(speed(agent2) up)" 2046 2094)
  ("(speed(agent2) down)" 2094 2144)
  ("(speed(agent2) up)" 2144 2157)
  ("(heading(agent2) 1)" 812 858)
  ("(heading(agent2) 4)" 858 868)
  ("(heading(agent2) 3)" 868 919)
  ("(heading(agent2) 2)" 919 933)
  ("(heading(agent2) 3)" 933 972)
  ("(heading(agent2) 4)" 972 1011)
  ("(heading(agent2) 1)" 1011 1033)
  ("(heading(agent2) 4)" 1033 1101)
  ("(heading(agent2) 3)" 1101 1159)
  ("(heading(agent2) 4)" 1159 1473)
  ("(heading(agent2) 3)" 1473 1480)
  ("(heading(agent2) 4)" 1480 1530)
  ("(heading(agent2) 3)" 1530 1567)
  ("(heading(agent2) 4)" 1567 1574)
  ("(heading(agent2) 3)" 1574 2132)
  ("(heading(agent2) down)" 813 824)
  ("(heading(agent2) stable)" 824 826)
  ("(heading(agent2) up)" 826 926)
  ("(heading(agent2) stable)" 926 929)
  ("(heading(agent2) down)" 929 1018)
  ("(heading(agent2) stable)" 1018 1028)
  ("(heading(agent2) up)" 1028 1085)
  ("(heading(agent2) stable)" 1085 1098)
  ("(heading(agent2) up)" 1098 1113)
  ("(heading(agent2) stable)" 1113 1118)
  ("(heading(agent2) up)" 1118 1131)
  ("(heading(agent2) stable)" 1131 1145)
  ("(heading(agent2) down)" 1145 1183)
  ("(heading(agent2) stable)" 1183 1201)
  ("(heading(agent2) down)" 1201 1209)
  ("(heading(agent2) stable)" 1209 1258)
  ("(heading(agent2) up)" 1258 1277)
  ("(heading(agent2) stable)" 1277 1385)
  ("(heading(agent2) up)" 1385 1390)
  ("(heading(agent2) stable)" 1390 1453)
  ("(heading(agent2) up)" 1453 1471)
  ("(heading(agent2) stable)" 1471 1799)
  ("(heading(agent2) up)" 1799 1803)
  ("(heading(agent2) stable)" 1803 2132)
  ("heard(agent1 agent2)" 2140 2182)
  ("heard(agent1 agent2)" 2056 2134)
  ("heard(agent1 agent2)" 1943 2024)
  ("heard(agent1 agent2)" 1548 1937)
  ("heard(agent1 agent2)" 1063 1532)
  ("heard(agent1 agent2)" 853 1009)
  ("novel(agent1 agent2)" 2141 2182)
  ("novel(agent1 agent2)" 2057 2131)
  ("novel(agent1 agent2)" 1944 2015)
  ("novel(agent1 agent2)" 1549 1626)
  ("novel(agent1 agent2)" 1064 1133)
  ("novel(agent1 agent2)" 854 930)
  ("novel(agent1 agent2)" 763 843)
  ("collision(agent1 agent2)" 2181 2182)
  ("collision(agent1 agent2)" 2087 2089)
  ("collision(agent1 agent2)" 1984 1987)
  ("collision(agent1 agent2)" 1888 1890)
  ("collision(agent1 agent2)" 1801 1804)
  ("collision(agent1 agent2)" 1695 1698)
  ("collision(agent1 agent2)" 1591 1594)
  ("collision(agent1 agent2)" 1482 1485)
  ("collision(agent1 agent2)" 1376 1379)
  ("collision(agent1 agent2)" 1279 1280)
  ("collision(agent1 agent2)" 1185 1188)
  ("collision(agent1 agent2)" 1094 1096)
  ("collision(agent1 agent2)" 965 968)
  ("collision(agent1 agent2)" 874 876)
  ("(distance(agent1 agent2) 1)" 787 852)
  ("(distance(agent1 agent2) 2)" 852 860)
  ("(distance(agent1 agent2) 3)" 860 869)
  ("(distance(agent1 agent2) 4)" 869 903)
  ("(distance(agent1 agent2) 3)" 903 941)
  ("(distance(agent1 agent2) 4)" 941 992)
  ("(distance(agent1 agent2) 3)" 992 1004)
  ("(distance(agent1 agent2) 2)" 1004 1020)
  ("(distance(agent1 agent2) 1)" 1020 1052)
  ("(distance(agent1 agent2) 2)" 1052 1068)
  ("(distance(agent1 agent2) 3)" 1068 1079)
  ("(distance(agent1 agent2) 4)" 1079 1127)
  ("(distance(agent1 agent2) 3)" 1127 1159)
  ("(distance(agent1 agent2) 4)" 1159 1218)
  ("(distance(agent1 agent2) 3)" 1218 1254)
  ("(distance(agent1 agent2) 4)" 1254 1311)
  ("(distance(agent1 agent2) 3)" 1311 1353)
  ("(distance(agent1 agent2) 4)" 1353 1405)
  ("(distance(agent1 agent2) 3)" 1405 1423)
  ("(distance(agent1 agent2) 2)" 1423 1445)
  ("(distance(agent1 agent2) 3)" 1445 1462)
  ("(distance(agent1 agent2) 4)" 1462 1510)
  ("(distance(agent1 agent2) 3)" 1510 1526)
  ("(distance(agent1 agent2) 2)" 1526 1557)
  ("(distance(agent1 agent2) 3)" 1557 1572)
  ("(distance(agent1 agent2) 4)" 1572 1620)
  ("(distance(agent1 agent2) 3)" 1620 1640)
  ("(distance(agent1 agent2) 2)" 1640 1656)
  ("(distance(agent1 agent2) 3)" 1656 1675)
  ("(distance(agent1 agent2) 4)" 1675 1724)
  ("(distance(agent1 agent2) 3)" 1724 1742)
  ("(distance(agent1 agent2) 2)" 1742 1765)
  ("(distance(agent1 agent2) 3)" 1765 1781)
  ("(distance(agent1 agent2) 4)" 1781 1833)
  ("(distance(agent1 agent2) 3)" 1833 1864)
  ("(distance(agent1 agent2) 4)" 1864 1914)
  ("(distance(agent1 agent2) 3)" 1914 1931)
  ("(distance(agent1 agent2) 2)" 1931 1951)
  ("(distance(agent1 agent2) 3)" 1951 1967)
  ("(distance(agent1 agent2) 4)" 1967 2008)
  ("(distance(agent1 agent2) 3)" 2008 2021)
  ("(distance(agent1 agent2) 2)" 2021 2060)
  ("(distance(agent1 agent2) 3)" 2060 2073)
  ("(distance(agent1 agent2) 4)" 2073 2112)
  ("(distance(agent1 agent2) 3)" 2112 2129)
  ("(distance(agent1 agent2) 2)" 2129 2148)
  ("(distance(agent1 agent2) 3)" 2148 2157)
  ("(distance(agent1 agent2) down)" 788 885)
  ("(distance(agent1 agent2) stable)" 885 886)
  ("(distance(agent1 agent2) up)" 886 922)
  ("(distance(agent1 agent2) stable)" 922 923)
  ("(distance(agent1 agent2) down)" 923 969)
  ("(distance(agent1 agent2) stable)" 969 970)
  ("(distance(agent1 agent2) up)" 970 1036)
  ("(distance(agent1 agent2) stable)" 1036 1037)
  ("(distance(agent1 agent2) down)" 1037 1101)
  ("(distance(agent1 agent2) stable)" 1101 1102)
  ("(distance(agent1 agent2) up)" 1102 1144)
  ("(distance(agent1 agent2) stable)" 1144 1145)
  ("(distance(agent1 agent2) down)" 1145 1189)
  ("(distance(agent1 agent2) stable)" 1189 1190)
  ("(distance(agent1 agent2) up)" 1190 1237)
  ("(distance(agent1 agent2) stable)" 1237 1238)
  ("(distance(agent1 agent2) down)" 1238 1283)
  ("(distance(agent1 agent2) stable)" 1283 1285)
  ("(distance(agent1 agent2) up)" 1285 1333)
  ("(distance(agent1 agent2) stable)" 1333 1334)
  ("(distance(agent1 agent2) down)" 1334 1381)
  ("(distance(agent1 agent2) stable)" 1381 1382)
  ("(distance(agent1 agent2) up)" 1382 1434)
  ("(distance(agent1 agent2) stable)" 1434 1435)
  ("(distance(agent1 agent2) down)" 1435 1487)
  ("(distance(agent1 agent2) stable)" 1487 1488)
  ("(distance(agent1 agent2) up)" 1488 1542)
  ("(distance(agent1 agent2) stable)" 1542 1543)
  ("(distance(agent1 agent2) down)" 1543 1597)
  ("(distance(agent1 agent2) stable)" 1597 1598)
  ("(distance(agent1 agent2) up)" 1598 1648)
  ("(distance(agent1 agent2) stable)" 1648 1649)
  ("(distance(agent1 agent2) down)" 1649 1700)
  ("(distance(agent1 agent2) stable)" 1700 1701)
  ("(distance(agent1 agent2) up)" 1701 1753)
  ("(distance(agent1 agent2) stable)" 1753 1754)
  ("(distance(agent1 agent2) down)" 1754 1806)
  ("(distance(agent1 agent2) stable)" 1806 1807)
  ("(distance(agent1 agent2) up)" 1807 1849)
  ("(distance(agent1 agent2) stable)" 1849 1850)
  ("(distance(agent1 agent2) down)" 1850 1891)
  ("(distance(agent1 agent2) stable)" 1891 1892)
  ("(distance(agent1 agent2) up)" 1892 1942)
  ("(distance(agent1 agent2) stable)" 1942 1943)
  ("(distance(agent1 agent2) down)" 1943 1989)
  ("(distance(agent1 agent2) stable)" 1989 1990)
  ("(distance(agent1 agent2) up)" 1990 2041)
  ("(distance(agent1 agent2) stable)" 2041 2042)
  ("(distance(agent1 agent2) down)" 2042 2092)
  ("(distance(agent1 agent2) stable)" 2092 2093)
  ("(distance(agent1 agent2) up)" 2093 2139)
  ("(distance(agent1 agent2) stable)" 2139 2140)
  ("(distance(agent1 agent2) down)" 2140 2157)
  ("(relativeX(agent1 agent2) 1)" 787 851)
  ("(relativeX(agent1 agent2) 2)" 851 859)
  ("(relativeX(agent1 agent2) 3)" 859 868)
  ("(relativeX(agent1 agent2) 4)" 868 906)
  ("(relativeX(agent1 agent2) 3)" 906 939)
  ("(relativeX(agent1 agent2) 4)" 939 992)
  ("(relativeX(agent1 agent2) 3)" 992 1002)
  ("(relativeX(agent1 agent2) 2)" 1002 1015)
  ("(relativeX(agent1 agent2) 1)" 1015 1056)
  ("(relativeX(agent1 agent2) 2)" 1056 1069)
  ("(relativeX(agent1 agent2) 3)" 1069 1080)
  ("(relativeX(agent1 agent2) 4)" 1080 1127)
  ("(relativeX(agent1 agent2) 3)" 1127 1159)
  ("(relativeX(agent1 agent2) 4)" 1159 1218)
  ("(relativeX(agent1 agent2) 3)" 1218 1254)
  ("(relativeX(agent1 agent2) 4)" 1254 1311)
  ("(relativeX(agent1 agent2) 3)" 1311 1353)
  ("(relativeX(agent1 agent2) 4)" 1353 1405)
  ("(relativeX(agent1 agent2) 3)" 1405 1421)
  ("(relativeX(agent1 agent2) 2)" 1421 1447)
  ("(relativeX(agent1 agent2) 3)" 1447 1462)
  ("(relativeX(agent1 agent2) 4)" 1462 1510)
  ("(relativeX(agent1 agent2) 3)" 1510 1524)
  ("(relativeX(agent1 agent2) 2)" 1524 1559)
  ("(relativeX(agent1 agent2) 3)" 1559 1572)
  ("(relativeX(agent1 agent2) 4)" 1572 1620)
  ("(relativeX(agent1 agent2) 3)" 1620 1637)
  ("(relativeX(agent1 agent2) 2)" 1637 1659)
  ("(relativeX(agent1 agent2) 3)" 1659 1675)
  ("(relativeX(agent1 agent2) 4)" 1675 1724)
  ("(relativeX(agent1 agent2) 3)" 1724 1740)
  ("(relativeX(agent1 agent2) 2)" 1740 1767)
  ("(relativeX(agent1 agent2) 3)" 1767 1781)
  ("(relativeX(agent1 agent2) 4)" 1781 1833)
  ("(relativeX(agent1 agent2) 3)" 1833 1864)
  ("(relativeX(agent1 agent2) 4)" 1864 1915)
  ("(relativeX(agent1 agent2) 3)" 1915 1930)
  ("(relativeX(agent1 agent2) 2)" 1930 1953)
  ("(relativeX(agent1 agent2) 3)" 1953 1967)
  ("(relativeX(agent1 agent2) 4)" 1967 2008)
  ("(relativeX(agent1 agent2) 3)" 2008 2020)
  ("(relativeX(agent1 agent2) 2)" 2020 2061)
  ("(relativeX(agent1 agent2) 3)" 2061 2073)
  ("(relativeX(agent1 agent2) 4)" 2073 2112)
  ("(relativeX(agent1 agent2) 3)" 2112 2127)
  ("(relativeX(agent1 agent2) 2)" 2127 2150)
  ("(relativeX(agent1 agent2) 3)" 2150 2157)
  ("(relativeX(agent1 agent2) down)" 788 885)
  ("(relativeX(agent1 agent2) stable)" 885 886)
  ("(relativeX(agent1 agent2) up)" 886 923)
  ("(relativeX(agent1 agent2) stable)" 923 924)
  ("(relativeX(agent1 agent2) down)" 924 969)
  ("(relativeX(agent1 agent2) stable)" 969 970)
  ("(relativeX(agent1 agent2) up)" 970 1036)
  ("(relativeX(agent1 agent2) stable)" 1036 1037)
  ("(relativeX(agent1 agent2) down)" 1037 1102)
  ("(relativeX(agent1 agent2) stable)" 1102 1103)
  ("(relativeX(agent1 agent2) up)" 1103 1144)
  ("(relativeX(agent1 agent2) stable)" 1144 1145)
  ("(relativeX(agent1 agent2) down)" 1145 1189)
  ("(relativeX(agent1 agent2) stable)" 1189 1190)
  ("(relativeX(agent1 agent2) up)" 1190 1237)
  ("(relativeX(agent1 agent2) stable)" 1237 1238)
  ("(relativeX(agent1 agent2) down)" 1238 1283)
  ("(relativeX(agent1 agent2) stable)" 1283 1284)
  ("(relativeX(agent1 agent2) up)" 1284 1333)
  ("(relativeX(agent1 agent2) stable)" 1333 1334)
  ("(relativeX(agent1 agent2) down)" 1334 1381)
  ("(relativeX(agent1 agent2) stable)" 1381 1382)
  ("(relativeX(agent1 agent2) up)" 1382 1434)
  ("(relativeX(agent1 agent2) stable)" 1434 1435)
  ("(relativeX(agent1 agent2) down)" 1435 1487)
  ("(relativeX(agent1 agent2) stable)" 1487 1488)
  ("(relativeX(agent1 agent2) up)" 1488 1542)
  ("(relativeX(agent1 agent2) stable)" 1542 1543)
  ("(relativeX(agent1 agent2) down)" 1543 1597)
  ("(relativeX(agent1 agent2) stable)" 1597 1598)
  ("(relativeX(agent1 agent2) up)" 1598 1648)
  ("(relativeX(agent1 agent2) stable)" 1648 1649)
  ("(relativeX(agent1 agent2) down)" 1649 1700)
  ("(relativeX(agent1 agent2) stable)" 1700 1701)
  ("(relativeX(agent1 agent2) up)" 1701 1753)
  ("(relativeX(agent1 agent2) stable)" 1753 1754)
  ("(relativeX(agent1 agent2) down)" 1754 1806)
  ("(relativeX(agent1 agent2) stable)" 1806 1807)
  ("(relativeX(agent1 agent2) up)" 1807 1849)
  ("(relativeX(agent1 agent2) stable)" 1849 1850)
  ("(relativeX(agent1 agent2) down)" 1850 1891)
  ("(relativeX(agent1 agent2) stable)" 1891 1892)
  ("(relativeX(agent1 agent2) up)" 1892 1942)
  ("(relativeX(agent1 agent2) stable)" 1942 1943)
  ("(relativeX(agent1 agent2) down)" 1943 1989)
  ("(relativeX(agent1 agent2) up)" 1989 2041)
  ("(relativeX(agent1 agent2) stable)" 2041 2042)
  ("(relativeX(agent1 agent2) down)" 2042 2092)
  ("(relativeX(agent1 agent2) stable)" 2092 2093)
  ("(relativeX(agent1 agent2) up)" 2093 2139)
  ("(relativeX(agent1 agent2) stable)" 2139 2140)
  ("(relativeX(agent1 agent2) down)" 2140 2157)
  ("(relativeY(agent1 agent2) 5)" 787 866)
  ("(relativeY(agent1 agent2) 4)" 866 877)
  ("(relativeY(agent1 agent2) 3)" 877 889)
  ("(relativeY(agent1 agent2) 2)" 889 948)
  ("(relativeY(agent1 agent2) 3)" 948 1126)
  ("(relativeY(agent1 agent2) 2)" 1126 1158)
  ("(relativeY(agent1 agent2) 3)" 1158 1331)
  ("(relativeY(agent1 agent2) 2)" 1331 1336)
  ("(relativeY(agent1 agent2) 3)" 1336 1411)
  ("(relativeY(agent1 agent2) 2)" 1411 1457)
  ("(relativeY(agent1 agent2) 3)" 1457 1512)
  ("(relativeY(agent1 agent2) 2)" 1512 1569)
  ("(relativeY(agent1 agent2) 3)" 1569 1623)
  ("(relativeY(agent1 agent2) 2)" 1623 1673)
  ("(relativeY(agent1 agent2) 3)" 1673 1724)
  ("(relativeY(agent1 agent2) 2)" 1724 1781)
  ("(relativeY(agent1 agent2) 3)" 1781 1833)
  ("(relativeY(agent1 agent2) 2)" 1833 1865)
  ("(relativeY(agent1 agent2) 3)" 1865 1912)
  ("(relativeY(agent1 agent2) 2)" 1912 1971)
  ("(relativeY(agent1 agent2) 3)" 1971 2005)
  ("(relativeY(agent1 agent2) 2)" 2005 2076)
  ("(relativeY(agent1 agent2) 3)" 2076 2111)
  ("(relativeY(agent1 agent2) 2)" 2111 2157)
  ("(relativeY(agent1 agent2) up)" 788 915)
  ("(relativeY(agent1 agent2) stable)" 915 917)
  ("(relativeY(agent1 agent2) down)" 917 983)
  ("(relativeY(agent1 agent2) stable)" 983 985)
  ("(relativeY(agent1 agent2) up)" 985 1042)
  ("(relativeY(agent1 agent2) stable)" 1042 1048)
  ("(relativeY(agent1 agent2) down)" 1048 1089)
  ("(relativeY(agent1 agent2) stable)" 1089 1093)
  ("(relativeY(agent1 agent2) up)" 1093 1141)
  ("(relativeY(agent1 agent2) stable)" 1141 1145)
  ("(relativeY(agent1 agent2) down)" 1145 1192)
  ("(relativeY(agent1 agent2) stable)" 1192 1196)
  ("(relativeY(agent1 agent2) up)" 1196 1236)
  ("(relativeY(agent1 agent2) stable)" 1236 1240)
  ("(relativeY(agent1 agent2) down)" 1240 1281)
  ("(relativeY(agent1 agent2) stable)" 1281 1285)
  ("(relativeY(agent1 agent2) up)" 1285 1332)
  ("(relativeY(agent1 agent2) stable)" 1332 1335)
  ("(relativeY(agent1 agent2) down)" 1335 1378)
  ("(relativeY(agent1 agent2) stable)" 1378 1382)
  ("(relativeY(agent1 agent2) up)" 1382 1434)
  ("(relativeY(agent1 agent2) stable)" 1434 1437)
  ("(relativeY(agent1 agent2) down)" 1437 1485)
  ("(relativeY(agent1 agent2) stable)" 1485 1488)
  ("(relativeY(agent1 agent2) up)" 1488 1540)
  ("(relativeY(agent1 agent2) stable)" 1540 1543)
  ("(relativeY(agent1 agent2) down)" 1543 1595)
  ("(relativeY(agent1 agent2) stable)" 1595 1598)
  ("(relativeY(agent1 agent2) up)" 1598 1648)
  ("(relativeY(agent1 agent2) stable)" 1648 1651)
  ("(relativeY(agent1 agent2) down)" 1651 1699)
  ("(relativeY(agent1 agent2) stable)" 1699 1702)
  ("(relativeY(agent1 agent2) up)" 1702 1752)
  ("(relativeY(agent1 agent2) stable)" 1752 1755)
  ("(relativeY(agent1 agent2) down)" 1755 1805)
  ("(relativeY(agent1 agent2) stable)" 1805 1808)
  ("(relativeY(agent1 agent2) up)" 1808 1849)
  ("(relativeY(agent1 agent2) stable)" 1849 1851)
  ("(relativeY(agent1 agent2) down)" 1851 1889)
  ("(relativeY(agent1 agent2) stable)" 1889 1892)
  ("(relativeY(agent1 agent2) up)" 1892 1941)
  ("(relativeY(agent1 agent2) stable)" 1941 1943)
  ("(relativeY(agent1 agent2) down)" 1943 1988)
  ("(relativeY(agent1 agent2) stable)" 1988 1990)
  ("(relativeY(agent1 agent2) up)" 1990 2040)
  ("(relativeY(agent1 agent2) stable)" 2040 2043)
  ("(relativeY(agent1 agent2) down)" 2043 2093)
  ("(relativeY(agent1 agent2) stable)" 2093 2095)
  ("(relativeY(agent1 agent2) up)" 2095 2138)
  ("(relativeY(agent1 agent2) stable)" 2138 2140)
  ("(relativeY(agent1 agent2) down)" 2140 2157)
  ("(x(wall2) 3)" 481 725)
  ("(x(wall2) stable)" 482 725)
  ("(y(wall2) 3)" 481 725)
  ("(y(wall2) stable)" 482 725)
  ("(speed(wall2) 3)" 481 725)
  ("(speed(wall2) stable)" 482 725)
  ("(heading(wall2) 3)" 506 700)
  ("(heading(wall2) stable)" 507 700)
  ("novel(agent1 wall2)" 457 538)
  ("(distance(agent1 wall2) 1)" 481 541)
  ("(distance(agent1 wall2) 2)" 541 573)
  ("(distance(agent1 wall2) 3)" 573 605)
  ("(distance(agent1 wall2) 4)" 605 655)
  ("(distance(agent1 wall2) 5)" 655 725)
  ("(distance(agent1 wall2) down)" 482 725)
  ("(relativeX(agent1 wall2) 5)" 481 541)
  ("(relativeX(agent1 wall2) 4)" 541 573)
  ("(relativeX(agent1 wall2) 3)" 573 605)
  ("(relativeX(agent1 wall2) 2)" 605 655)
  ("(relativeX(agent1 wall2) 1)" 655 725)
  ("(relativeX(agent1 wall2) up)" 482 725)
  ("(relativeY(agent1 wall2) 5)" 481 545)
  ("(relativeY(agent1 wall2) 4)" 545 589)
  ("(relativeY(agent1 wall2) 3)" 589 624)
  ("(relativeY(agent1 wall2) 2)" 624 663)
  ("(relativeY(agent1 wall2) 1)" 663 725)
  ("(relativeY(agent1 wall2) up)" 482 725)
  ("(x(wall4) 3)" 698 2157)
  ("(x(wall4) stable)" 699 2157)
  ("(y(wall4) 3)" 698 2157)
  ("(y(wall4) stable)" 699 2157)
  ("(speed(wall4) 3)" 698 2157)
  ("(speed(wall4) stable)" 699 2157)
  ("(heading(wall4) 3)" 723 2132)
  ("(heading(wall4) stable)" 724 2132)
  ("novel(agent1 wall4)" 674 756)
  ("(distance(agent1 wall4) 1)" 698 827)
  ("(distance(agent1 wall4) 2)" 827 853)
  ("(distance(agent1 wall4) 3)" 853 884)
  ("(distance(agent1 wall4) 4)" 884 974)
  ("(distance(agent1 wall4) 3)" 974 992)
  ("(distance(agent1 wall4) 4)" 992 1882)
  ("(distance(agent1 wall4) 3)" 1882 1903)
  ("(distance(agent1 wall4) 4)" 1903 1966)
  ("(distance(agent1 wall4) 3)" 1966 2017)
  ("(distance(agent1 wall4) 4)" 2017 2056)
  ("(distance(agent1 wall4) 3)" 2056 2157)
  ("(distance(agent1 wall4) down)" 699 915)
  ("(distance(agent1 wall4) stable)" 915 923)
  ("(distance(agent1 wall4) up)" 923 978)
  ("(distance(agent1 wall4) stable)" 978 988)
  ("(distance(agent1 wall4) down)" 988 1036)
  ("(distance(agent1 wall4) stable)" 1036 1059)
  ("(distance(agent1 wall4) up)" 1059 1081)
  ("(distance(agent1 wall4) stable)" 1081 1101)
  ("(distance(agent1 wall4) down)" 1101 1133)
  ("(distance(agent1 wall4) stable)" 1133 1147)
  ("(distance(agent1 wall4) up)" 1147 1187)
  ("(distance(agent1 wall4) stable)" 1187 1203)
  ("(distance(agent1 wall4) down)" 1203 1228)
  ("(distance(agent1 wall4) stable)" 1228 1246)
  ("(distance(agent1 wall4) up)" 1246 1273)
  ("(distance(agent1 wall4) stable)" 1273 1291)
  ("(distance(agent1 wall4) down)" 1291 1327)
  ("(distance(agent1 wall4) stable)" 1327 1342)
  ("(distance(agent1 wall4) up)" 1342 1371)
  ("(distance(agent1 wall4) stable)" 1371 1387)
  ("(distance(agent1 wall4) down)" 1387 1428)
  ("(distance(agent1 wall4) stable)" 1428 1442)
  ("(distance(agent1 wall4) up)" 1442 1480)
  ("(distance(agent1 wall4) stable)" 1480 1493)
  ("(distance(agent1 wall4) down)" 1493 1536)
  ("(distance(agent1 wall4) stable)" 1536 1549)
  ("(distance(agent1 wall4) up)" 1549 1591)
  ("(distance(agent1 wall4) stable)" 1591 1604)
  ("(distance(agent1 wall4) down)" 1604 1641)
  ("(distance(agent1 wall4) stable)" 1641 1654)
  ("(distance(agent1 wall4) up)" 1654 1695)
  ("(distance(agent1 wall4) stable)" 1695 1707)
  ("(distance(agent1 wall4) down)" 1707 1746)
  ("(distance(agent1 wall4) stable)" 1746 1758)
  ("(distance(agent1 wall4) up)" 1758 1802)
  ("(distance(agent1 wall4) stable)" 1802 1816)
  ("(distance(agent1 wall4) down)" 1816 1841)
  ("(distance(agent1 wall4) stable)" 1841 1853)
  ("(distance(agent1 wall4) up)" 1853 1887)
  ("(distance(agent1 wall4) stable)" 1887 1899)
  ("(distance(agent1 wall4) down)" 1899 1933)
  ("(distance(agent1 wall4) stable)" 1933 1944)
  ("(distance(agent1 wall4) up)" 1944 1987)
  ("(distance(agent1 wall4) stable)" 1987 1997)
  ("(distance(agent1 wall4) down)" 1997 2033)
  ("(distance(agent1 wall4) stable)" 2033 2043)
  ("(distance(agent1 wall4) up)" 2043 2091)
  ("(distance(agent1 wall4) stable)" 2091 2101)
  ("(distance(agent1 wall4) down)" 2101 2132)
  ("(distance(agent1 wall4) stable)" 2132 2142)
  ("(distance(agent1 wall4) up)" 2142 2157)
  ("(relativeX(agent1 wall4) 1)" 698 838)
  ("(relativeX(agent1 wall4) 2)" 838 849)
  ("(relativeX(agent1 wall4) 3)" 849 860)
  ("(relativeX(agent1 wall4) 4)" 860 916)
  ("(relativeX(agent1 wall4) 3)" 916 933)
  ("(relativeX(agent1 wall4) 4)" 933 994)
  ("(relativeX(agent1 wall4) 3)" 994 1011)
  ("(relativeX(agent1 wall4) 2)" 1011 1061)
  ("(relativeX(agent1 wall4) 3)" 1061 1077)
  ("(relativeX(agent1 wall4) 4)" 1077 1132)
  ("(relativeX(agent1 wall4) 3)" 1132 1154)
  ("(relativeX(agent1 wall4) 4)" 1154 1223)
  ("(relativeX(agent1 wall4) 3)" 1223 1249)
  ("(relativeX(agent1 wall4) 4)" 1249 1315)
  ("(relativeX(agent1 wall4) 3)" 1315 1349)
  ("(relativeX(agent1 wall4) 4)" 1349 1409)
  ("(relativeX(agent1 wall4) 3)" 1409 1458)
  ("(relativeX(agent1 wall4) 4)" 1458 1515)
  ("(relativeX(agent1 wall4) 3)" 1515 1567)
  ("(relativeX(agent1 wall4) 4)" 1567 1626)
  ("(relativeX(agent1 wall4) 3)" 1626 1669)
  ("(relativeX(agent1 wall4) 4)" 1669 1730)
  ("(relativeX(agent1 wall4) 3)" 1730 1776)
  ("(relativeX(agent1 wall4) 4)" 1776 1843)
  ("(relativeX(agent1 wall4) 3)" 1843 1855)
  ("(relativeX(agent1 wall4) 4)" 1855 1919)
  ("(relativeX(agent1 wall4) 3)" 1919 1963)
  ("(relativeX(agent1 wall4) 4)" 1963 2012)
  ("(relativeX(agent1 wall4) 3)" 2012 2034)
  ("(relativeX(agent1 wall4) 2)" 2034 2048)
  ("(relativeX(agent1 wall4) 3)" 2048 2070)
  ("(relativeX(agent1 wall4) 4)" 2070 2115)
  ("(relativeX(agent1 wall4) 3)" 2115 2157)
  ("(relativeX(agent1 wall4) up)" 699 732)
  ("(relativeX(agent1 wall4) stable)" 732 740)
  ("(relativeX(agent1 wall4) down)" 740 883)
  ("(relativeX(agent1 wall4) stable)" 883 885)
  ("(relativeX(agent1 wall4) up)" 885 924)
  ("(relativeX(agent1 wall4) stable)" 924 925)
  ("(relativeX(agent1 wall4) down)" 925 968)
  ("(relativeX(agent1 wall4) stable)" 968 970)
  ("(relativeX(agent1 wall4) up)" 970 1035)
  ("(relativeX(agent1 wall4) stable)" 1035 1037)
  ("(relativeX(agent1 wall4) down)" 1037 1101)
  ("(relativeX(agent1 wall4) stable)" 1101 1103)
  ("(relativeX(agent1 wall4) up)" 1103 1143)
  ("(relativeX(agent1 wall4) stable)" 1143 1145)
  ("(relativeX(agent1 wall4) down)" 1145 1189)
  ("(relativeX(agent1 wall4) stable)" 1189 1191)
  ("(relativeX(agent1 wall4) up)" 1191 1236)
  ("(relativeX(agent1 wall4) stable)" 1236 1238)
  ("(relativeX(agent1 wall4) down)" 1238 1283)
  ("(relativeX(agent1 wall4) stable)" 1283 1285)
  ("(relativeX(agent1 wall4) up)" 1285 1332)
  ("(relativeX(agent1 wall4) stable)" 1332 1334)
  ("(relativeX(agent1 wall4) down)" 1334 1381)
  ("(relativeX(agent1 wall4) stable)" 1381 1382)
  ("(relativeX(agent1 wall4) up)" 1382 1434)
  ("(relativeX(agent1 wall4) stable)" 1434 1436)
  ("(relativeX(agent1 wall4) down)" 1436 1487)
  ("(relativeX(agent1 wall4) stable)" 1487 1489)
  ("(relativeX(agent1 wall4) up)" 1489 1541)
  ("(relativeX(agent1 wall4) stable)" 1541 1543)
  ("(relativeX(agent1 wall4) down)" 1543 1597)
  ("(relativeX(agent1 wall4) stable)" 1597 1598)
  ("(relativeX(agent1 wall4) up)" 1598 1648)
  ("(relativeX(agent1 wall4) stable)" 1648 1649)
  ("(relativeX(agent1 wall4) down)" 1649 1700)
  ("(relativeX(agent1 wall4) stable)" 1700 1702)
  ("(relativeX(agent1 wall4) up)" 1702 1753)
  ("(relativeX(agent1 wall4) stable)" 1753 1755)
  ("(relativeX(agent1 wall4) down)" 1755 1806)
  ("(relativeX(agent1 wall4) stable)" 1806 1807)
  ("(relativeX(agent1 wall4) up)" 1807 1849)
  ("(relativeX(agent1 wall4) stable)" 1849 1851)
  ("(relativeX(agent1 wall4) down)" 1851 1891)
  ("(relativeX(agent1 wall4) stable)" 1891 1892)
  ("(relativeX(agent1 wall4) up)" 1892 1942)
  ("(relativeX(agent1 wall4) stable)" 1942 1943)
  ("(relativeX(agent1 wall4) down)" 1943 1988)
  ("(relativeX(agent1 wall4) stable)" 1988 1990)
  ("(relativeX(agent1 wall4) up)" 1990 2041)
  ("(relativeX(agent1 wall4) stable)" 2041 2042)
  ("(relativeX(agent1 wall4) down)" 2042 2092)
  ("(relativeX(agent1 wall4) stable)" 2092 2093)
  ("(relativeX(agent1 wall4) up)" 2093 2139)
  ("(relativeX(agent1 wall4) stable)" 2139 2140)
  ("(relativeX(agent1 wall4) down)" 2140 2157)
  ("(relativeY(agent1 wall4) 5)" 698 827)
  ("(relativeY(agent1 wall4) 4)" 827 853)
  ("(relativeY(agent1 wall4) 3)" 853 884)
  ("(relativeY(agent1 wall4) 2)" 884 974)
  ("(relativeY(agent1 wall4) 3)" 974 992)
  ("(relativeY(agent1 wall4) 2)" 992 1882)
  ("(relativeY(agent1 wall4) 3)" 1882 1903)
  ("(relativeY(agent1 wall4) 2)" 1903 1966)
  ("(relativeY(agent1 wall4) 3)" 1966 2017)
  ("(relativeY(agent1 wall4) 2)" 2017 2056)
  ("(relativeY(agent1 wall4) 3)" 2056 2157)
  ("(relativeY(agent1 wall4) up)" 699 915)
  ("(relativeY(agent1 wall4) stable)" 915 923)
  ("(relativeY(agent1 wall4) down)" 923 978)
  ("(relativeY(agent1 wall4) stable)" 978 988)
  ("(relativeY(agent1 wall4) up)" 988 1036)
  ("(relativeY(agent1 wall4) stable)" 1036 1059)
  ("(relativeY(agent1 wall4) down)" 1059 1081)
  ("(relativeY(agent1 wall4) stable)" 1081 1101)
  ("(relativeY(agent1 wall4) up)" 1101 1133)
  ("(relativeY(agent1 wall4) stable)" 1133 1147)
  ("(relativeY(agent1 wall4) down)" 1147 1187)
  ("(relativeY(agent1 wall4) stable)" 1187 1203)
  ("(relativeY(agent1 wall4) up)" 1203 1228)
  ("(relativeY(agent1 wall4) stable)" 1228 1246)
  ("(relativeY(agent1 wall4) down)" 1246 1273)
  ("(relativeY(agent1 wall4) stable)" 1273 1291)
  ("(relativeY(agent1 wall4) up)" 1291 1327)
  ("(relativeY(agent1 wall4) stable)" 1327 1342)
  ("(relativeY(agent1 wall4) down)" 1342 1371)
  ("(relativeY(agent1 wall4) stable)" 1371 1387)
  ("(relativeY(agent1 wall4) up)" 1387 1428)
  ("(relativeY(agent1 wall4) stable)" 1428 1442)
  ("(relativeY(agent1 wall4) down)" 1442 1480)
  ("(relativeY(agent1 wall4) stable)" 1480 1493)
  ("(relativeY(agent1 wall4) up)" 1493 1536)
  ("(relativeY(agent1 wall4) stable)" 1536 1549)
  ("(relativeY(agent1 wall4) down)" 1549 1591)
  ("(relativeY(agent1 wall4) stable)" 1591 1604)
  ("(relativeY(agent1 wall4) up)" 1604 1641)
  ("(relativeY(agent1 wall4) stable)" 1641 1654)
  ("(relativeY(agent1 wall4) down)" 1654 1695)
  ("(relativeY(agent1 wall4) stable)" 1695 1707)
  ("(relativeY(agent1 wall4) up)" 1707 1746)
  ("(relativeY(agent1 wall4) stable)" 1746 1758)
  ("(relativeY(agent1 wall4) down)" 1758 1802)
  ("(relativeY(agent1 wall4) stable)" 1802 1816)
  ("(relativeY(agent1 wall4) up)" 1816 1841)
  ("(relativeY(agent1 wall4) stable)" 1841 1853)
  ("(relativeY(agent1 wall4) down)" 1853 1887)
  ("(relativeY(agent1 wall4) stable)" 1887 1899)
  ("(relativeY(agent1 wall4) up)" 1899 1933)
  ("(relativeY(agent1 wall4) stable)" 1933 1944)
  ("(relativeY(agent1 wall4) down)" 1944 1987)
  ("(relativeY(agent1 wall4) stable)" 1987 1997)
  ("(relativeY(agent1 wall4) up)" 1997 2033)
  ("(relativeY(agent1 wall4) stable)" 2033 2043)
  ("(relativeY(agent1 wall4) down)" 2043 2091)
  ("(relativeY(agent1 wall4) stable)" 2091 2101)
  ("(relativeY(agent1 wall4) up)" 2101 2132)
  ("(relativeY(agent1 wall4) stable)" 2132 2142)
  ("(relativeY(agent1 wall4) down)" 2142 2157)
 ))
(2
 (
  ("(x(agent1) 5)" 25 476)
  ("(x(agent1) 4)" 476 595)
  ("(x(agent1) 3)" 595 685)
  ("(x(agent1) 2)" 685 2392)
  ("(x(agent1) up)" 26 800)
  ("(x(agent1) stable)" 800 833)
  ("(x(agent1) down)" 833 856)
  ("(x(agent1) stable)" 856 894)
  ("(x(agent1) up)" 894 921)
  ("(x(agent1) stable)" 921 1163)
  ("(x(agent1) down)" 1163 1293)
  ("(x(agent1) stable)" 1293 1340)
  ("(x(agent1) up)" 1340 1360)
  ("(x(agent1) stable)" 1360 1464)
  ("(x(agent1) down)" 1464 1498)
  ("(x(agent1) stable)" 1498 1518)
  ("(x(agent1) up)" 1518 1543)
  ("(x(agent1) stable)" 1543 1565)
  ("(x(agent1) down)" 1565 1600)
  ("(x(agent1) stable)" 1600 1620)
  ("(x(agent1) up)" 1620 1654)
  ("(x(agent1) stable)" 1654 1673)
  ("(x(agent1) down)" 1673 1708)
  ("(x(agent1) stable)" 1708 1728)
  ("(x(agent1) up)" 1728 1763)
  ("(x(agent1) stable)" 1763 1783)
  ("(x(agent1) down)" 1783 1811)
  ("(x(agent1) stable)" 1811 1832)
  ("(x(agent1) up)" 1832 1861)
  ("(x(agent1) stable)" 1861 1882)
  ("(x(agent1) down)" 1882 1911)
  ("(x(agent1) stable)" 1911 1932)
  ("(x(agent1) up)" 1932 1962)
  ("(x(agent1) stable)" 1962 1982)
  ("(x(agent1) down)" 1982 2017)
  ("(x(agent1) stable)" 2017 2037)
  ("(x(agent1) up)" 2037 2072)
  ("(x(agent1) stable)" 2072 2091)
  ("(x(agent1) down)" 2091 2124)
  ("(x(agent1) stable)" 2124 2144)
  ("(x(agent1) up)" 2144 2177)
  ("(x(agent1) stable)" 2177 2198)
  ("(x(agent1) down)" 2198 2227)
  ("(x(agent1) stable)" 2227 2248)
  ("(x(agent1) up)" 2248 2277)
  ("(x(agent1) stable)" 2277 2296)
  ("(x(agent1) down)" 2296 2331)
  ("(x(agent1) stable)" 2331 2348)
  ("(x(agent1) up)" 2348 2380)
  ("(x(agent1) stable)" 2380 2392)
  ("(y(agent1) 3)" 25 47)
  ("(y(agent1) 4)" 47 322)
  ("(y(agent1) 3)" 322 380)
  ("(y(agent1) 2)" 380 436)
  ("(y(agent1) 1)" 436 1214)
  ("(y(agent1) 2)" 1214 1275)
  ("(y(agent1) 3)" 1275 1314)
  ("(y(agent1) 4)" 1314 1358)
  ("(y(agent1) 5)" 1358 1660)
  ("(y(agent1) 4)" 1660 1679)
  ("(y(agent1) 5)" 1679 1758)
  ("(y(agent1) 4)" 1758 1784)
  ("(y(agent1) 5)" 1784 1867)
  ("(y(agent1) 4)" 1867 1871)
  ("(y(agent1) 5)" 1871 2392)
  ("(y(agent1) down)" 26 177)
  ("(y(agent1) stable)" 177 213)
  ("(y(agent1) up)" 213 597)
  ("(y(agent1) stable)" 597 756)
  ("(y(agent1) down)" 756 887)
  ("(y(agent1) stable)" 887 901)
  ("(y(agent1) up)" 901 945)
  ("(y(agent1) stable)" 945 1152)
  ("(y(agent1) down)" 1152 1402)
  ("(y(agent1) stable)" 1402 1410)
  ("(y(agent1) up)" 1410 1479)
  ("(y(agent1) stable)" 1479 1620)
  ("(y(agent1) up)" 1620 1653)
  ("(y(agent1) stable)" 1653 1889)
  ("(y(agent1) down)" 1889 1901)
  ("(y(agent1) stable)" 1901 1942)
  ("(y(agent1) up)" 1942 1946)
  ("(y(agent1) stable)" 1946 1990)
  ("(y(agent1) down)" 1990 2005)
  ("(y(agent1) stable)" 2005 2046)
  ("(y(agent1) up)" 2046 2061)
  ("(y(agent1) stable)" 2061 2099)
  ("(y(agent1) down)" 2099 2111)
  ("(y(agent1) stable)" 2111 2155)
  ("(y(agent1) up)" 2155 2163)
  ("(y(agent1) stable)" 2163 2256)
  ("(y(agent1) up)" 2256 2264)
  ("(y(agent1) stable)" 2264 2304)
  ("(y(agent1) down)" 2304 2320)
  ("(y(agent1) stable)" 2320 2353)
  ("(y(agent1) up)" 2353 2373)
  ("(y(agent1) stable)" 2373 2392)
  ("(speed(agent1) 4)" 25 34)
  ("(speed(agent1) 3)" 34 51)
  ("(speed(agent1) 2)" 51 85)
  ("(speed(agent1) 1)" 85 763)
  ("(speed(agent1) 2)" 763 781)
  ("(speed(agent1) 3)" 781 804)
  ("(speed(agent1) 4)" 804 815)
  ("(speed(agent1) 3)" 815 856)
  ("(speed(agent1) 4)" 856 887)
  ("(speed(agent1) 5)" 887 1168)
  ("(speed(agent1) 4)" 1168 1184)
  ("(speed(agent1) 3)" 1184 1201)
  ("(speed(agent1) 2)" 1201 1235)
  ("(speed(agent1) 1)" 1235 1358)
  ("(speed(agent1) 2)" 1358 1374)
  ("(speed(agent1) 3)" 1374 1385)
  ("(speed(agent1) 4)" 1385 1404)
  ("(speed(agent1) 5)" 1404 1413)
  ("(speed(agent1) 4)" 1413 1499)
  ("(speed(agent1) 5)" 1499 1520)
  ("(speed(agent1) 4)" 1520 1605)
  ("(speed(agent1) 5)" 1605 1622)
  ("(speed(agent1) 4)" 1622 1712)
  ("(speed(agent1) 5)" 1712 1730)
  ("(speed(agent1) 4)" 1730 1813)
  ("(speed(agent1) 5)" 1813 1834)
  ("(speed(agent1) 4)" 1834 1914)
  ("(speed(agent1) 5)" 1914 1934)
  ("(speed(agent1) 4)" 1934 2021)
  ("(speed(agent1) 5)" 2021 2039)
  ("(speed(agent1) 4)" 2039 2127)
  ("(speed(agent1) 5)" 2127 2147)
  ("(speed(agent1) 4)" 2147 2228)
  ("(speed(agent1) 5)" 2228 2250)
  ("(speed(agent1) 4)" 2250 2372)
  ("(speed(agent1) 3)" 2372 2392)
  ("(speed(agent1) up)" 26 201)
  ("(speed(agent1) stable)" 201 397)
  ("(speed(agent1) down)" 397 470)
  ("(speed(agent1) stable)" 470 487)
  ("(speed(agent1) up)" 487 491)
  ("(speed(agent1) stable)" 491 494)
  ("(speed(agent1) up)" 494 581)
  ("(speed(agent1) stable)" 581 632)
  ("(speed(agent1) up)" 632 660)
  ("(speed(agent1) stable)" 660 665)
  ("(speed(agent1) up)" 665 677)
  ("(speed(agent1) stable)" 677 735)
  ("(speed(agent1) down)" 735 808)
  ("(speed(agent1) stable)" 808 812)
  ("(speed(agent1) up)" 812 840)
  ("(speed(agent1) stable)" 840 841)
  ("(speed(agent1) down)" 841 899)
  ("(speed(agent1) stable)" 899 903)
  ("(speed(agent1) up)" 903 905)
  ("(speed(agent1) stable)" 905 911)
  ("(speed(agent1) down)" 911 970)
  ("(speed(agent1) stable)" 970 971)
  ("(speed(agent1) down)" 971 972)
  ("(speed(agent1) stable)" 972 1127)
  ("(speed(agent1) up)" 1127 1263)
  ("(speed(agent1) stable)" 1263 1289)
  ("(speed(agent1) up)" 1289 1342)
  ("(speed(agent1) stable)" 1342 1344)
  ("(speed(agent1) down)" 1344 1409)
  ("(speed(agent1) stable)" 1409 1410)
  ("(speed(agent1) up)" 1410 1429)
  ("(speed(agent1) stable)" 1429 1431)
  ("(speed(agent1) up)" 1431 1463)
  ("(speed(agent1) stable)" 1463 1464)
  ("(speed(agent1) down)" 1464 1513)
  ("(speed(agent1) stable)" 1513 1514)
  ("(speed(agent1) up)" 1514 1563)
  ("(speed(agent1) stable)" 1563 1564)
  ("(speed(agent1) down)" 1564 1614)
  ("(speed(agent1) stable)" 1614 1615)
  ("(speed(agent1) up)" 1615 1670)
  ("(speed(agent1) stable)" 1670 1671)
  ("(speed(agent1) down)" 1671 1722)
  ("(speed(agent1) stable)" 1722 1723)
  ("(speed(agent1) up)" 1723 1775)
  ("(speed(agent1) stable)" 1775 1776)
  ("(speed(agent1) down)" 1776 1826)
  ("(speed(agent1) stable)" 1826 1827)
  ("(speed(agent1) up)" 1827 1876)
  ("(speed(agent1) stable)" 1876 1877)
  ("(speed(agent1) down)" 1877 1927)
  ("(speed(agent1) up)" 1927 1980)
  ("(speed(agent1) down)" 1980 2031)
  ("(speed(agent1) stable)" 2031 2032)
  ("(speed(agent1) up)" 2032 2086)
  ("(speed(agent1) stable)" 2086 2087)
  ("(speed(agent1) down)" 2087 2139)
  ("(speed(agent1) stable)" 2139 2140)
  ("(speed(agent1) up)" 2140 2191)
  ("(speed(agent1) stable)" 2191 2192)
  ("(speed(agent1) down)" 2192 2242)
  ("(speed(agent1) stable)" 2242 2243)
  ("(speed(agent1) up)" 2243 2296)
  ("(speed(agent1) stable)" 2296 2297)
  ("(speed(agent1) down)" 2297 2345)
  ("(speed(agent1) up)" 2345 2392)
  ("(heading(agent1) 1)" 50 150)
  ("(heading(agent1) 4)" 150 361)
  ("(heading(agent1) 3)" 361 425)
  ("(heading(agent1) 4)" 425 947)
  ("(heading(agent1) 3)" 947 1022)
  ("(heading(agent1) 2)" 1022 1095)
  ("(heading(agent1) 1)" 1095 1462)
  ("(heading(agent1) 4)" 1462 2367)
  ("(heading(agent1) up)" 51 385)
  ("(heading(agent1) stable)" 385 399)
  ("(heading(agent1) down)" 399 587)
  ("(heading(agent1) stable)" 587 589)
  ("(heading(agent1) down)" 589 599)
  ("(heading(agent1) stable)" 599 732)
  ("(heading(agent1) up)" 732 1491)
  ("(heading(agent1) stable)" 1491 1542)
  ("(heading(agent1) up)" 1542 1598)
  ("(heading(agent1) stable)" 1598 2367)
  ("(energy(agent1) 2)" 25 1478)
  ("(energy(agent1) 3)" 1478 1664)
  ("(energy(agent1) 4)" 1664 1862)
  ("(energy(agent1) 5)" 1862 2392)
  ("(energy(agent1) stable)" 26 1345)
  ("(energy(agent1) down)" 1345 1396)
  ("(energy(agent1) stable)" 1396 1430)
  ("(energy(agent1) down)" 1430 1481)
  ("(energy(agent1) stable)" 1481 1527)
  ("(energy(agent1) down)" 1527 1578)
  ("(energy(agent1) stable)" 1578 1635)
  ("(energy(agent1) down)" 1635 1686)
  ("(energy(agent1) stable)" 1686 1744)
  ("(energy(agent1) down)" 1744 1795)
  ("(energy(agent1) stable)" 1795 1843)
  ("(energy(agent1) down)" 1843 1894)
  ("(energy(agent1) stable)" 1894 1944)
  ("(energy(agent1) down)" 1944 1995)
  ("(energy(agent1) stable)" 1995 2052)
  ("(energy(agent1) down)" 2052 2103)
  ("(energy(agent1) stable)" 2103 2158)
  ("(energy(agent1) down)" 2158 2209)
  ("(energy(agent1) stable)" 2209 2259)
  ("(energy(agent1) down)" 2259 2310)
  ("(energy(agent1) stable)" 2310 2324)
  ("(energy(agent1) down)" 2324 2392)
  ("(arousal(agent1) 4)" 25 876)
  ("(arousal(agent1) 5)" 876 1357)
  ("(arousal(agent1) 4)" 1357 1446)
  ("(arousal(agent1) 3)" 1446 1532)
  ("(arousal(agent1) 2)" 1532 1652)
  ("(arousal(agent1) 1)" 1652 2392)
  ("(arousal(agent1) down)" 26 167)
  ("(arousal(agent1) stable)" 167 189)
  ("(arousal(agent1) up)" 189 266)
  ("(arousal(agent1) stable)" 266 288)
  ("(arousal(agent1) down)" 288 616)
  ("(arousal(agent1) stable)" 616 639)
  ("(arousal(agent1) up)" 639 717)
  ("(arousal(agent1) stable)" 717 737)
  ("(arousal(agent1) down)" 737 1236)
  ("(arousal(agent1) stable)" 1236 1257)
  ("(arousal(agent1) up)" 1257 1514)
  ("(arousal(agent1) stable)" 1514 1526)
  ("(arousal(agent1) up)" 1526 1577)
  ("(arousal(agent1) down)" 1577 1596)
  ("(arousal(agent1) stable)" 1596 1616)
  ("(arousal(agent1) up)" 1616 1693)
  ("(arousal(agent1) stable)" 1693 1729)
  ("(arousal(agent1) up)" 1729 1782)
  ("(arousal(agent1) stable)" 1782 1994)
  ("(arousal(agent1) down)" 1994 2016)
  ("(arousal(agent1) stable)" 2016 2036)
  ("(arousal(agent1) up)" 2036 2077)
  ("(arousal(agent1) stable)" 2077 2124)
  ("(arousal(agent1) down)" 2124 2157)
  ("(arousal(agent1) stable)" 2157 2208)
  ("(arousal(agent1) down)" 2208 2258)
  ("(arousal(agent1) up)" 2258 2309)
  ("(arousal(agent1) down)" 2309 2331)
  ("(arousal(agent1) stable)" 2331 2351)
  ("(arousal(agent1) up)" 2351 2392)
  ("(valence(agent1) 4)" 25 1451)
  ("(valence(agent1) 3)" 1451 1538)
  ("(valence(agent1) 2)" 1538 1572)
  ("(valence(agent1) 1)" 1572 1613)
  ("(valence(agent1) 2)" 1613 1637)
  ("(valence(agent1) 1)" 1637 2392)
  ("(valence(agent1) stable)" 26 1344)
  ("(valence(agent1) up)" 1344 1395)
  ("(valence(agent1) down)" 1395 1429)
  ("(valence(agent1) up)" 1429 1480)
  ("(valence(agent1) down)" 1480 1526)
  ("(valence(agent1) up)" 1526 1577)
  ("(valence(agent1) down)" 1577 1634)
  ("(valence(agent1) up)" 1634 1685)
  ("(valence(agent1) down)" 1685 1743)
  ("(valence(agent1) up)" 1743 1794)
  ("(valence(agent1) down)" 1794 1842)
  ("(valence(agent1) up)" 1842 1893)
  ("(valence(agent1) down)" 1893 1943)
  ("(valence(agent1) up)" 1943 1994)
  ("(valence(agent1) down)" 1994 2051)
  ("(valence(agent1) up)" 2051 2102)
  ("(valence(agent1) down)" 2102 2157)
  ("(valence(agent1) up)" 2157 2208)
  ("(valence(agent1) down)" 2208 2258)
  ("(valence(agent1) up)" 2258 2309)
  ("(valence(agent1) down)" 2309 2359)
  ("(valence(agent1) up)" 2359 2392)
  ("(goal(agent1) WanderGoal)" 0 1255)
  ("(goal(agent1) PursueGoal)" 1255 2417)
  ("(state(agent1) wander)" 0 1255)
  ("(state(agent1) charge)" 1255 1369)
  ("(state(agent1) back-away)" 1369 1399)
  ("(state(agent1) charge)" 1399 1454)
  ("(state(agent1) back-away)" 1454 1484)
  ("(state(agent1) charge)" 1484 1550)
  ("(state(agent1) back-away)" 1550 1584)
  ("(state(agent1) charge)" 1584 1658)
  ("(state(agent1) back-away)" 1658 1692)
  ("(state(agent1) charge)" 1692 1767)
  ("(state(agent1) back-away)" 1767 1797)
  ("(state(agent1) charge)" 1797 1866)
  ("(state(agent1) back-away)" 1866 1897)
  ("(state(agent1) charge)" 1897 1967)
  ("(state(agent1) back-away)" 1967 2001)
  ("(state(agent1) charge)" 2001 2076)
  ("(state(agent1) back-away)" 2076 2109)
  ("(state(agent1) charge)" 2109 2182)
  ("(state(agent1) back-away)" 2182 2213)
  ("(state(agent1) charge)" 2213 2282)
  ("(state(agent1) back-away)" 2282 2316)
  ("(state(agent1) charge)" 2316 2383)
  ("(state(agent1) back-away)" 2383 2417)
  ("(x(agent2) 1)" 1279 1329)
  ("(x(agent2) 2)" 1329 1338)
  ("(x(agent2) 3)" 1338 1345)
  ("(x(agent2) 5)" 1459 1473)
  ("(x(agent2) 4)" 1473 1483)
  ("(x(agent2) 3)" 1483 1492)
  ("(x(agent2) 2)" 1492 1520)
  ("(x(agent2) 3)" 1520 1528)
  ("(x(agent2) 4)" 1528 1537)
  ("(x(agent2) 5)" 1537 1571)
  ("(x(agent2) 4)" 1571 1579)
  ("(x(agent2) 3)" 1579 1586)
  ("(x(agent2) 2)" 1586 1595)
  ("(x(agent2) 1)" 1595 1623)
  ("(x(agent2) 2)" 1623 1632)
  ("(x(agent2) 3)" 1632 1638)
  ("(x(agent2) 4)" 1638 1647)
  ("(x(agent2) 5)" 1647 1679)
  ("(x(agent2) 4)" 1679 1686)
  ("(x(agent2) 3)" 1686 1693)
  ("(x(agent2) 2)" 1693 1701)
  ("(x(agent2) 1)" 1701 1734)
  ("(x(agent2) 2)" 1734 1742)
  ("(x(agent2) 3)" 1742 1748)
  ("(x(agent2) 4)" 1748 1756)
  ("(x(agent2) 5)" 1756 1788)
  ("(x(agent2) 4)" 1788 1797)
  ("(x(agent2) 3)" 1797 1805)
  ("(x(agent2) 2)" 1805 1838)
  ("(x(agent2) 3)" 1838 1845)
  ("(x(agent2) 4)" 1845 1854)
  ("(x(agent2) 5)" 1854 1887)
  ("(x(agent2) 4)" 1887 1896)
  ("(x(agent2) 3)" 1896 1903)
  ("(x(agent2) 2)" 1903 1918)
  ("(x(agent2) 1)" 1918 1926)
  ("(x(agent2) 2)" 1926 1939)
  ("(x(agent2) 3)" 1939 1946)
  ("(x(agent2) 4)" 1946 1956)
  ("(x(agent2) 5)" 1956 1987)
  ("(x(agent2) 4)" 1987 1995)
  ("(x(agent2) 3)" 1995 2001)
  ("(x(agent2) 2)" 2001 2010)
  ("(x(agent2) 1)" 2010 2043)
  ("(x(agent2) 2)" 2043 2051)
  ("(x(agent2) 3)" 2051 2057)
  ("(x(agent2) 4)" 2057 2066)
  ("(x(agent2) 5)" 2066 2096)
  ("(x(agent2) 4)" 2096 2104)
  ("(x(agent2) 3)" 2104 2111)
  ("(x(agent2) 2)" 2111 2121)
  ("(x(agent2) 1)" 2121 2147)
  ("(x(agent2) 2)" 2147 2156)
  ("(x(agent2) 3)" 2156 2162)
  ("(x(agent2) 4)" 2162 2171)
  ("(x(agent2) 5)" 2171 2203)
  ("(x(agent2) 4)" 2203 2212)
  ("(x(agent2) 3)" 2212 2219)
  ("(x(agent2) 2)" 2219 2254)
  ("(x(agent2) 3)" 2254 2261)
  ("(x(agent2) 4)" 2261 2271)
  ("(x(agent2) 5)" 2271 2301)
  ("(x(agent2) 4)" 2301 2309)
  ("(x(agent2) 3)" 2309 2315)
  ("(x(agent2) 2)" 2315 2323)
  ("(x(agent2) 1)" 2323 2355)
  ("(x(agent2) 2)" 2355 2362)
  ("(x(agent2) 3)" 2362 2368)
  ("(x(agent2) 4)" 2368 2378)
  ("(x(agent2) 5)" 2378 2392)
  ("(x(agent2) down)" 1280 1345)
  ("(x(agent2) up)" 1460 1507)
  ("(x(agent2) down)" 1507 1555)
  ("(x(agent2) stable)" 1555 1556)
  ("(x(agent2) up)" 1556 1610)
  ("(x(agent2) down)" 1610 1664)
  ("(x(agent2) up)" 1664 1718)
  ("(x(agent2) down)" 1718 1773)
  ("(x(agent2) up)" 1773 1822)
  ("(x(agent2) down)" 1822 1871)
  ("(x(agent2) stable)" 1871 1872)
  ("(x(agent2) up)" 1872 1922)
  ("(x(agent2) stable)" 1922 1923)
  ("(x(agent2) down)" 1923 1972)
  ("(x(agent2) stable)" 1972 1973)
  ("(x(agent2) up)" 1973 2027)
  ("(x(agent2) down)" 2027 2082)
  ("(x(agent2) up)" 2082 2134)
  ("(x(agent2) stable)" 2134 2135)
  ("(x(agent2) down)" 2135 2188)
  ("(x(agent2) up)" 2188 2238)
  ("(x(agent2) down)" 2238 2287)
  ("(x(agent2) stable)" 2287 2288)
  ("(x(agent2) up)" 2288 2340)
  ("(x(agent2) down)" 2340 2388)
  ("(x(agent2) stable)" 2388 2389)
  ("(x(agent2) up)" 2389 2392)
  ("(y(agent2) 5)" 1279 1345)
  ("(y(agent2) 3)" 1459 1582)
  ("(y(agent2) 2)" 1582 1650)
  ("(y(agent2) 3)" 1650 1682)
  ("(y(agent2) 2)" 1682 1758)
  ("(y(agent2) 3)" 1758 1785)
  ("(y(agent2) 2)" 1785 1857)
  ("(y(agent2) 3)" 1857 1882)
  ("(y(agent2) 2)" 1882 1956)
  ("(y(agent2) 3)" 1956 1987)
  ("(y(agent2) 2)" 1987 2066)
  ("(y(agent2) 3)" 2066 2098)
  ("(y(agent2) 2)" 2098 2166)
  ("(y(agent2) 3)" 2166 2206)
  ("(y(agent2) 2)" 2206 2276)
  ("(y(agent2) 3)" 2276 2294)
  ("(y(agent2) 2)" 2294 2392)
  ("(y(agent2) up)" 1280 1345)
  ("(y(agent2) down)" 1460 1472)
  ("(y(agent2) stable)" 1472 1476)
  ("(y(agent2) up)" 1476 1609)
  ("(y(agent2) stable)" 1609 1617)
  ("(y(agent2) down)" 1617 1662)
  ("(y(agent2) stable)" 1662 1671)
  ("(y(agent2) up)" 1671 1714)
  ("(y(agent2) stable)" 1714 1725)
  ("(y(agent2) down)" 1725 1767)
  ("(y(agent2) stable)" 1767 1777)
  ("(y(agent2) up)" 1777 1817)
  ("(y(agent2) stable)" 1817 1827)
  ("(y(agent2) down)" 1827 1865)
  ("(y(agent2) stable)" 1865 1875)
  ("(y(agent2) up)" 1875 1916)
  ("(y(agent2) stable)" 1916 1925)
  ("(y(agent2) down)" 1925 1968)
  ("(y(agent2) stable)" 1968 1977)
  ("(y(agent2) up)" 1977 2023)
  ("(y(agent2) stable)" 2023 2031)
  ("(y(agent2) down)" 2031 2078)
  ("(y(agent2) stable)" 2078 2087)
  ("(y(agent2) up)" 2087 2129)
  ("(y(agent2) stable)" 2129 2138)
  ("(y(agent2) down)" 2138 2183)
  ("(y(agent2) stable)" 2183 2191)
  ("(y(agent2) up)" 2191 2235)
  ("(y(agent2) stable)" 2235 2244)
  ("(y(agent2) down)" 2244 2281)
  ("(y(agent2) stable)" 2281 2290)
  ("(y(agent2) up)" 2290 2337)
  ("(y(agent2) stable)" 2337 2344)
  ("(y(agent2) down)" 2344 2384)
  ("(y(agent2) stable)" 2384 2390)
  ("(y(agent2) up)" 2390 2392)
  ("(speed(agent2) 1)" 1279 1345)
  ("(speed(agent2) 3)" 1459 1474)
  ("(speed(agent2) 4)" 1474 1534)
  ("(speed(agent2) 3)" 1534 1562)
  ("(speed(agent2) 2)" 1562 1564)
  ("(speed(agent2) 3)" 1564 1583)
  ("(speed(agent2) 4)" 1583 1612)
  ("(speed(agent2) 5)" 1612 1617)
  ("(speed(agent2) 4)" 1617 1631)
  ("(speed(agent2) 3)" 1631 1659)
  ("(speed(agent2) 2)" 1659 1676)
  ("(speed(agent2) 3)" 1676 1692)
  ("(speed(agent2) 4)" 1692 1720)
  ("(speed(agent2) 5)" 1720 1725)
  ("(speed(agent2) 4)" 1725 1740)
  ("(speed(agent2) 3)" 1740 1765)
  ("(speed(agent2) 2)" 1765 1781)
  ("(speed(agent2) 3)" 1781 1792)
  ("(speed(agent2) 4)" 1792 1824)
  ("(speed(agent2) 5)" 1824 1829)
  ("(speed(agent2) 4)" 1829 1848)
  ("(speed(agent2) 3)" 1848 1891)
  ("(speed(agent2) 4)" 1891 1924)
  ("(speed(agent2) 5)" 1924 1929)
  ("(speed(agent2) 4)" 1929 1946)
  ("(speed(agent2) 3)" 1946 1976)
  ("(speed(agent2) 2)" 1976 1983)
  ("(speed(agent2) 3)" 1983 2001)
  ("(speed(agent2) 4)" 2001 2029)
  ("(speed(agent2) 5)" 2029 2034)
  ("(speed(agent2) 4)" 2034 2048)
  ("(speed(agent2) 3)" 2048 2102)
  ("(speed(agent2) 4)" 2102 2136)
  ("(speed(agent2) 5)" 2136 2142)
  ("(speed(agent2) 4)" 2142 2156)
  ("(speed(agent2) 3)" 2156 2205)
  ("(speed(agent2) 4)" 2205 2240)
  ("(speed(agent2) 5)" 2240 2245)
  ("(speed(agent2) 4)" 2245 2263)
  ("(speed(agent2) 3)" 2263 2289)
  ("(speed(agent2) 2)" 2289 2302)
  ("(speed(agent2) 3)" 2302 2321)
  ("(speed(agent2) 4)" 2321 2354)
  ("(speed(agent2) 3)" 2354 2367)
  ("(speed(agent2) 2)" 2367 2392)
  ("(speed(agent2) up)" 1280 1298)
  ("(speed(agent2) stable)" 1298 1335)
  ("(speed(agent2) down)" 1335 1345)
  ("(speed(agent2) up)" 1460 1464)
  ("(speed(agent2) stable)" 1464 1465)
  ("(speed(agent2) down)" 1465 1512)
  ("(speed(agent2) stable)" 1512 1513)
  ("(speed(agent2) up)" 1513 1563)
  ("(speed(agent2) stable)" 1563 1564)
  ("(speed(agent2) down)" 1564 1615)
  ("(speed(agent2) up)" 1615 1670)
  ("(speed(agent2) stable)" 1670 1671)
  ("(speed(agent2) down)" 1671 1723)
  ("(speed(agent2) up)" 1723 1775)
  ("(speed(agent2) stable)" 1775 1776)
  ("(speed(agent2) down)" 1776 1827)
  ("(speed(agent2) up)" 1827 1876)
  ("(speed(agent2) stable)" 1876 1877)
  ("(speed(agent2) down)" 1877 1927)
  ("(speed(agent2) up)" 1927 1980)
  ("(speed(agent2) down)" 1980 2032)
  ("(speed(agent2) up)" 2032 2087)
  ("(speed(agent2) down)" 2087 2139)
  ("(speed(agent2) up)" 2139 2191)
  ("(speed(agent2) down)" 2191 2242)
  ("(speed(agent2) stable)" 2242 2243)
  ("(speed(agent2) up)" 2243 2296)
  ("(speed(agent2) stable)" 2296 2297)
  ("(speed(agent2) down)" 2297 2345)
  ("(speed(agent2) up)" 2345 2392)
  ("(heading(agent2) 5)" 1304 1320)
  ("(heading(agent2) 5)" 1484 1539)
  ("(heading(agent2) 4)" 1539 1548)
  ("(heading(agent2) 3)" 1548 1559)
  ("(heading(agent2) 2)" 1559 1635)
  ("(heading(agent2) 3)" 1635 1848)
  ("(heading(agent2) 2)" 1848 2087)
  ("(heading(agent2) 3)" 2087 2108)
  ("(heading(agent2) 2)" 2108 2367)
  ("(heading(agent2) up)" 1305 1320)
  ("(heading(agent2) down)" 1485 1507)
  ("(heading(agent2) stable)" 1507 1510)
  ("(heading(agent2) up)" 1510 1591)
  ("(heading(agent2) stable)" 1591 1608)
  ("(heading(agent2) down)" 1608 1659)
  ("(heading(agent2) stable)" 1659 1697)
  ("(heading(agent2) down)" 1697 1705)
  ("(heading(agent2) stable)" 1705 1722)
  ("(heading(agent2) up)" 1722 1748)
  ("(heading(agent2) stable)" 1748 1826)
  ("(heading(agent2) up)" 1826 1857)
  ("(heading(agent2) stable)" 1857 1877)
  ("(heading(agent2) up)" 1877 1882)
  ("(heading(agent2) stable)" 1882 1945)
  ("(heading(agent2) down)" 1945 1951)
  ("(heading(agent2) stable)" 1951 1965)
  ("(heading(agent2) up)" 1965 1968)
  ("(heading(agent2) stable)" 1968 2367)
  ("heard(agent1 agent2)" 2348 2417)
  ("heard(agent1 agent2)" 2033 2328)
  ("heard(agent1 agent2)" 1726 2017)
  ("heard(agent1 agent2)" 1613 1706)
  ("heard(agent1 agent2)" 1342 1603)
  ("novel(agent1 agent2)" 2349 2417)
  ("novel(agent1 agent2)" 2034 2116)
  ("novel(agent1 agent2)" 1727 1807)
  ("novel(agent1 agent2)" 1614 1695)
  ("novel(agent1 agent2)" 1435 1515)
  ("novel(agent1 agent2)" 1343 1422)
  ("novel(agent1 agent2)" 1255 1337)
  ("collision(agent1 agent2)" 2383 2385)
  ("collision(agent1 agent2)" 2282 2284)
  ("collision(agent1 agent2)" 2182 2183)
  ("collision(agent1 agent2)" 2076 2077)
  ("collision(agent1 agent2)" 1967 1969)
  ("collision(agent1 agent2)" 1866 1868)
  ("collision(agent1 agent2)" 1767 1770)
  ("collision(agent1 agent2)" 1658 1661)
  ("collision(agent1 agent2)" 1550 1553)
  ("collision(agent1 agent2)" 1454 1456)
  ("collision(agent1 agent2)" 1369 1370)
  ("(distance(agent1 agent2) 1)" 1279 1342)
  ("(distance(agent1 agent2) 2)" 1342 1351)
  ("(distance(agent1 agent2) 3)" 1351 1360)
  ("(distance(agent1 agent2) 4)" 1360 1402)
  ("(distance(agent1 agent2) 3)" 1402 1421)
  ("(distance(agent1 agent2) 4)" 1421 1486)
  ("(distance(agent1 agent2) 3)" 1486 1527)
  ("(distance(agent1 agent2) 4)" 1527 1578)
  ("(distance(agent1 agent2) 3)" 1578 1595)
  ("(distance(agent1 agent2) 2)" 1595 1623)
  ("(distance(agent1 agent2) 3)" 1623 1639)
  ("(distance(agent1 agent2) 4)" 1639 1686)
  ("(distance(agent1 agent2) 3)" 1686 1702)
  ("(distance(agent1 agent2) 2)" 1702 1733)
  ("(distance(agent1 agent2) 3)" 1733 1749)
  ("(distance(agent1 agent2) 4)" 1749 1796)
  ("(distance(agent1 agent2) 3)" 1796 1845)
  ("(distance(agent1 agent2) 4)" 1845 1895)
  ("(distance(agent1 agent2) 3)" 1895 1947)
  ("(distance(agent1 agent2) 4)" 1947 1995)
  ("(distance(agent1 agent2) 3)" 1995 2012)
  ("(distance(agent1 agent2) 2)" 2012 2041)
  ("(distance(agent1 agent2) 3)" 2041 2057)
  ("(distance(agent1 agent2) 4)" 2057 2105)
  ("(distance(agent1 agent2) 3)" 2105 2124)
  ("(distance(agent1 agent2) 2)" 2124 2144)
  ("(distance(agent1 agent2) 3)" 2144 2162)
  ("(distance(agent1 agent2) 4)" 2162 2212)
  ("(distance(agent1 agent2) 3)" 2212 2261)
  ("(distance(agent1 agent2) 4)" 2261 2309)
  ("(distance(agent1 agent2) 3)" 2309 2325)
  ("(distance(agent1 agent2) 2)" 2325 2353)
  ("(distance(agent1 agent2) 3)" 2353 2368)
  ("(distance(agent1 agent2) 4)" 2368 2392)
  ("(distance(agent1 agent2) down)" 1280 1378)
  ("(distance(agent1 agent2) stable)" 1378 1379)
  ("(distance(agent1 agent2) up)" 1379 1411)
  ("(distance(agent1 agent2) stable)" 1411 1413)
  ("(distance(agent1 agent2) down)" 1413 1457)
  ("(distance(agent1 agent2) stable)" 1457 1458)
  ("(distance(agent1 agent2) up)" 1458 1507)
  ("(distance(agent1 agent2) stable)" 1507 1508)
  ("(distance(agent1 agent2) down)" 1508 1554)
  ("(distance(agent1 agent2) stable)" 1554 1556)
  ("(distance(agent1 agent2) up)" 1556 1609)
  ("(distance(agent1 agent2) stable)" 1609 1611)
  ("(distance(agent1 agent2) down)" 1611 1664)
  ("(distance(agent1 agent2) stable)" 1664 1665)
  ("(distance(agent1 agent2) up)" 1665 1718)
  ("(distance(agent1 agent2) stable)" 1718 1719)
  ("(distance(agent1 agent2) down)" 1719 1773)
  ("(distance(agent1 agent2) stable)" 1773 1774)
  ("(distance(agent1 agent2) up)" 1774 1822)
  ("(distance(agent1 agent2) stable)" 1822 1823)
  ("(distance(agent1 agent2) down)" 1823 1871)
  ("(distance(agent1 agent2) stable)" 1871 1872)
  ("(distance(agent1 agent2) up)" 1872 1922)
  ("(distance(agent1 agent2) stable)" 1922 1923)
  ("(distance(agent1 agent2) down)" 1923 1972)
  ("(distance(agent1 agent2) stable)" 1972 1973)
  ("(distance(agent1 agent2) up)" 1973 2027)
  ("(distance(agent1 agent2) stable)" 2027 2028)
  ("(distance(agent1 agent2) down)" 2028 2082)
  ("(distance(agent1 agent2) stable)" 2082 2083)
  ("(distance(agent1 agent2) up)" 2083 2134)
  ("(distance(agent1 agent2) stable)" 2134 2135)
  ("(distance(agent1 agent2) down)" 2135 2187)
  ("(distance(agent1 agent2) stable)" 2187 2188)
  ("(distance(agent1 agent2) up)" 2188 2237)
  ("(distance(agent1 agent2) stable)" 2237 2238)
  ("(distance(agent1 agent2) down)" 2238 2287)
  ("(distance(agent1 agent2) stable)" 2287 2288)
  ("(distance(agent1 agent2) up)" 2288 2340)
  ("(distance(agent1 agent2) stable)" 2340 2341)
  ("(distance(agent1 agent2) down)" 2341 2388)
  ("(distance(agent1 agent2) stable)" 2388 2389)
  ("(distance(agent1 agent2) up)" 2389 2392)
  ("(relativeX(agent1 agent2) 5)" 1279 1311)
  ("(relativeX(agent1 agent2) 4)" 1311 1327)
  ("(relativeX(agent1 agent2) 3)" 1327 1337)
  ("(relativeX(agent1 agent2) 2)" 1337 1345)
  ("(relativeX(agent1 agent2) 1)" 1459 1477)
  ("(relativeX(agent1 agent2) 2)" 1477 1484)
  ("(relativeX(agent1 agent2) 3)" 1484 1492)
  ("(relativeX(agent1 agent2) 4)" 1492 1521)
  ("(relativeX(agent1 agent2) 3)" 1521 1528)
  ("(relativeX(agent1 agent2) 2)" 1528 1537)
  ("(relativeX(agent1 agent2) 1)" 1537 1571)
  ("(relativeX(agent1 agent2) 2)" 1571 1578)
  ("(relativeX(agent1 agent2) 3)" 1578 1584)
  ("(relativeX(agent1 agent2) 4)" 1584 1591)
  ("(relativeX(agent1 agent2) 5)" 1591 1628)
  ("(relativeX(agent1 agent2) 4)" 1628 1634)
  ("(relativeX(agent1 agent2) 3)" 1634 1640)
  ("(relativeX(agent1 agent2) 2)" 1640 1648)
  ("(relativeX(agent1 agent2) 1)" 1648 1678)
  ("(relativeX(agent1 agent2) 2)" 1678 1685)
  ("(relativeX(agent1 agent2) 3)" 1685 1690)
  ("(relativeX(agent1 agent2) 4)" 1690 1697)
  ("(relativeX(agent1 agent2) 5)" 1697 1738)
  ("(relativeX(agent1 agent2) 4)" 1738 1744)
  ("(relativeX(agent1 agent2) 3)" 1744 1749)
  ("(relativeX(agent1 agent2) 2)" 1749 1757)
  ("(relativeX(agent1 agent2) 1)" 1757 1788)
  ("(relativeX(agent1 agent2) 2)" 1788 1796)
  ("(relativeX(agent1 agent2) 3)" 1796 1802)
  ("(relativeX(agent1 agent2) 4)" 1802 1813)
  ("(relativeX(agent1 agent2) 5)" 1813 1830)
  ("(relativeX(agent1 agent2) 4)" 1830 1840)
  ("(relativeX(agent1 agent2) 3)" 1840 1846)
  ("(relativeX(agent1 agent2) 2)" 1846 1854)
  ("(relativeX(agent1 agent2) 1)" 1854 1887)
  ("(relativeX(agent1 agent2) 2)" 1887 1895)
  ("(relativeX(agent1 agent2) 3)" 1895 1901)
  ("(relativeX(agent1 agent2) 4)" 1901 1911)
  ("(relativeX(agent1 agent2) 5)" 1911 1932)
  ("(relativeX(agent1 agent2) 4)" 1932 1941)
  ("(relativeX(agent1 agent2) 3)" 1941 1947)
  ("(relativeX(agent1 agent2) 2)" 1947 1955)
  ("(relativeX(agent1 agent2) 1)" 1955 1988)
  ("(relativeX(agent1 agent2) 2)" 1988 1994)
  ("(relativeX(agent1 agent2) 3)" 1994 2000)
  ("(relativeX(agent1 agent2) 4)" 2000 2007)
  ("(relativeX(agent1 agent2) 5)" 2007 2046)
  ("(relativeX(agent1 agent2) 4)" 2046 2052)
  ("(relativeX(agent1 agent2) 3)" 2052 2058)
  ("(relativeX(agent1 agent2) 2)" 2058 2065)
  ("(relativeX(agent1 agent2) 1)" 2065 2097)
  ("(relativeX(agent1 agent2) 2)" 2097 2104)
  ("(relativeX(agent1 agent2) 3)" 2104 2110)
  ("(relativeX(agent1 agent2) 4)" 2110 2118)
  ("(relativeX(agent1 agent2) 5)" 2118 2150)
  ("(relativeX(agent1 agent2) 4)" 2150 2157)
  ("(relativeX(agent1 agent2) 3)" 2157 2163)
  ("(relativeX(agent1 agent2) 2)" 2163 2171)
  ("(relativeX(agent1 agent2) 1)" 2171 2204)
  ("(relativeX(agent1 agent2) 2)" 2204 2211)
  ("(relativeX(agent1 agent2) 3)" 2211 2218)
  ("(relativeX(agent1 agent2) 4)" 2218 2229)
  ("(relativeX(agent1 agent2) 5)" 2229 2246)
  ("(relativeX(agent1 agent2) 4)" 2246 2256)
  ("(relativeX(agent1 agent2) 3)" 2256 2262)
  ("(relativeX(agent1 agent2) 2)" 2262 2270)
  ("(relativeX(agent1 agent2) 1)" 2270 2302)
  ("(relativeX(agent1 agent2) 2)" 2302 2309)
  ("(relativeX(agent1 agent2) 3)" 2309 2314)
  ("(relativeX(agent1 agent2) 4)" 2314 2320)
  ("(relativeX(agent1 agent2) 5)" 2320 2357)
  ("(relativeX(agent1 agent2) 4)" 2357 2363)
  ("(relativeX(agent1 agent2) 3)" 2363 2369)
  ("(relativeX(agent1 agent2) 2)" 2369 2378)
  ("(relativeX(agent1 agent2) 1)" 2378 2392)
  ("(relativeX(agent1 agent2) down)" 1280 1291)
  ("(relativeX(agent1 agent2) stable)" 1291 1292)
  ("(relativeX(agent1 agent2) up)" 1292 1345)
  ("(relativeX(agent1 agent2) down)" 1460 1508)
  ("(relativeX(agent1 agent2) up)" 1508 1555)
  ("(relativeX(agent1 agent2) stable)" 1555 1556)
  ("(relativeX(agent1 agent2) down)" 1556 1610)
  ("(relativeX(agent1 agent2) up)" 1610 1664)
  ("(relativeX(agent1 agent2) down)" 1664 1718)
  ("(relativeX(agent1 agent2) up)" 1718 1773)
  ("(relativeX(agent1 agent2) down)" 1773 1822)
  ("(relativeX(agent1 agent2) up)" 1822 1871)
  ("(relativeX(agent1 agent2) stable)" 1871 1872)
  ("(relativeX(agent1 agent2) down)" 1872 1922)
  ("(relativeX(agent1 agent2) up)" 1922 1972)
  ("(relativeX(agent1 agent2) stable)" 1972 1973)
  ("(relativeX(agent1 agent2) down)" 1973 2027)
  ("(relativeX(agent1 agent2) up)" 2027 2082)
  ("(relativeX(agent1 agent2) down)" 2082 2134)
  ("(relativeX(agent1 agent2) stable)" 2134 2135)
  ("(relativeX(agent1 agent2) up)" 2135 2188)
  ("(relativeX(agent1 agent2) down)" 2188 2238)
  ("(relativeX(agent1 agent2) up)" 2238 2287)
  ("(relativeX(agent1 agent2) stable)" 2287 2288)
  ("(relativeX(agent1 agent2) down)" 2288 2340)
  ("(relativeX(agent1 agent2) up)" 2340 2388)
  ("(relativeX(agent1 agent2) stable)" 2388 2389)
  ("(relativeX(agent1 agent2) down)" 2389 2392)
  ("(relativeY(agent1 agent2) 1)" 1279 1345)
  ("(relativeY(agent1 agent2) 3)" 1459 1571)
  ("(relativeY(agent1 agent2) 4)" 1571 1643)
  ("(relativeY(agent1 agent2) 3)" 1643 1694)
  ("(relativeY(agent1 agent2) 4)" 1694 1742)
  ("(relativeY(agent1 agent2) 3)" 1742 1799)
  ("(relativeY(agent1 agent2) 4)" 1799 1843)
  ("(relativeY(agent1 agent2) 3)" 1843 1893)
  ("(relativeY(agent1 agent2) 4)" 1893 1949)
  ("(relativeY(agent1 agent2) 3)" 1949 1993)
  ("(relativeY(agent1 agent2) 4)" 1993 2059)
  ("(relativeY(agent1 agent2) 3)" 2059 2103)
  ("(relativeY(agent1 agent2) 4)" 2103 2162)
  ("(relativeY(agent1 agent2) 3)" 2162 2210)
  ("(relativeY(agent1 agent2) 4)" 2210 2264)
  ("(relativeY(agent1 agent2) 3)" 2264 2305)
  ("(relativeY(agent1 agent2) 4)" 2305 2372)
  ("(relativeY(agent1 agent2) 3)" 2372 2392)
  ("(relativeY(agent1 agent2) down)" 1280 1345)
  ("(relativeY(agent1 agent2) up)" 1460 1479)
  ("(relativeY(agent1 agent2) stable)" 1479 1486)
  ("(relativeY(agent1 agent2) down)" 1486 1517)
  ("(relativeY(agent1 agent2) stable)" 1517 1538)
  ("(relativeY(agent1 agent2) down)" 1538 1604)
  ("(relativeY(agent1 agent2) stable)" 1604 1611)
  ("(relativeY(agent1 agent2) up)" 1611 1665)
  ("(relativeY(agent1 agent2) stable)" 1665 1672)
  ("(relativeY(agent1 agent2) down)" 1672 1715)
  ("(relativeY(agent1 agent2) stable)" 1715 1724)
  ("(relativeY(agent1 agent2) up)" 1724 1768)
  ("(relativeY(agent1 agent2) stable)" 1768 1776)
  ("(relativeY(agent1 agent2) down)" 1776 1818)
  ("(relativeY(agent1 agent2) stable)" 1818 1826)
  ("(relativeY(agent1 agent2) up)" 1826 1866)
  ("(relativeY(agent1 agent2) stable)" 1866 1874)
  ("(relativeY(agent1 agent2) down)" 1874 1918)
  ("(relativeY(agent1 agent2) stable)" 1918 1926)
  ("(relativeY(agent1 agent2) up)" 1926 1969)
  ("(relativeY(agent1 agent2) stable)" 1969 1976)
  ("(relativeY(agent1 agent2) down)" 1976 2024)
  ("(relativeY(agent1 agent2) stable)" 2024 2031)
  ("(relativeY(agent1 agent2) up)" 2031 2079)
  ("(relativeY(agent1 agent2) stable)" 2079 2086)
  ("(relativeY(agent1 agent2) down)" 2086 2130)
  ("(relativeY(agent1 agent2) stable)" 2130 2138)
  ("(relativeY(agent1 agent2) up)" 2138 2184)
  ("(relativeY(agent1 agent2) stable)" 2184 2191)
  ("(relativeY(agent1 agent2) down)" 2191 2235)
  ("(relativeY(agent1 agent2) stable)" 2235 2242)
  ("(relativeY(agent1 agent2) up)" 2242 2283)
  ("(relativeY(agent1 agent2) stable)" 2283 2290)
  ("(relativeY(agent1 agent2) down)" 2290 2337)
  ("(relativeY(agent1 agent2) stable)" 2337 2343)
  ("(relativeY(agent1 agent2) up)" 2343 2385)
  ("(relativeY(agent1 agent2) stable)" 2385 2391)
  ("(relativeY(agent1 agent2) down)" 2391 2392)
  ("(x(wall2) 3)" 660 973)
  ("(x(wall2) 3)" 1307 2392)
  ("(x(wall2) stable)" 661 973)
  ("(x(wall2) stable)" 1308 2392)
  ("(y(wall2) 3)" 660 973)
  ("(y(wall2) 3)" 1307 2392)
  ("(y(wall2) stable)" 661 973)
  ("(y(wall2) stable)" 1308 2392)
  ("(speed(wall2) 3)" 660 973)
  ("(speed(wall2) 3)" 1307 2392)
  ("(speed(wall2) stable)" 661 973)
  ("(speed(wall2) stable)" 1308 2392)
  ("(heading(wall2) 3)" 685 948)
  ("(heading(wall2) 3)" 1332 2367)
  ("(heading(wall2) stable)" 686 948)
  ("(heading(wall2) stable)" 1333 2367)
  ("novel(agent1 wall2)" 1283 1365)
  ("novel(agent1 wall2)" 636 718)
  ("(distance(agent1 wall2) 1)" 660 709)
  ("(distance(agent1 wall2) 2)" 709 723)
  ("(distance(agent1 wall2) 3)" 723 734)
  ("(distance(agent1 wall2) 4)" 734 747)
  ("(distance(agent1 wall2) 5)" 747 973)
  ("(distance(agent1 wall2) 2)" 1307 1332)
  ("(distance(agent1 wall2) 3)" 1332 1480)
  ("(distance(agent1 wall2) 2)" 1480 1536)
  ("(distance(agent1 wall2) 3)" 1536 1571)
  ("(distance(agent1 wall2) 2)" 1571 1649)
  ("(distance(agent1 wall2) 3)" 1649 1677)
  ("(distance(agent1 wall2) 2)" 1677 1758)
  ("(distance(agent1 wall2) 3)" 1758 1788)
  ("(distance(agent1 wall2) 2)" 1788 1854)
  ("(distance(agent1 wall2) 3)" 1854 1887)
  ("(distance(agent1 wall2) 2)" 1887 1955)
  ("(distance(agent1 wall2) 3)" 1955 1988)
  ("(distance(agent1 wall2) 2)" 1988 2065)
  ("(distance(agent1 wall2) 3)" 2065 2097)
  ("(distance(agent1 wall2) 2)" 2097 2170)
  ("(distance(agent1 wall2) 3)" 2170 2204)
  ("(distance(agent1 wall2) 2)" 2204 2270)
  ("(distance(agent1 wall2) 3)" 2270 2302)
  ("(distance(agent1 wall2) 2)" 2302 2377)
  ("(distance(agent1 wall2) 3)" 2377 2392)
  ("(distance(agent1 wall2) down)" 661 811)
  ("(distance(agent1 wall2) stable)" 811 815)
  ("(distance(agent1 wall2) up)" 815 874)
  ("(distance(agent1 wall2) stable)" 874 878)
  ("(distance(agent1 wall2) down)" 878 953)
  ("(distance(agent1 wall2) stable)" 953 973)
  ("(distance(agent1 wall2) up)" 1308 1311)
  ("(distance(agent1 wall2) stable)" 1311 1318)
  ("(distance(agent1 wall2) down)" 1318 1379)
  ("(distance(agent1 wall2) stable)" 1379 1384)
  ("(distance(agent1 wall2) up)" 1384 1420)
  ("(distance(agent1 wall2) stable)" 1420 1424)
  ("(distance(agent1 wall2) down)" 1424 1446)
  ("(distance(agent1 wall2) stable)" 1446 1451)
  ("(distance(agent1 wall2) up)" 1451 1507)
  ("(distance(agent1 wall2) stable)" 1507 1510)
  ("(distance(agent1 wall2) down)" 1510 1554)
  ("(distance(agent1 wall2) stable)" 1554 1556)
  ("(distance(agent1 wall2) up)" 1556 1609)
  ("(distance(agent1 wall2) stable)" 1609 1612)
  ("(distance(agent1 wall2) down)" 1612 1663)
  ("(distance(agent1 wall2) stable)" 1663 1665)
  ("(distance(agent1 wall2) up)" 1665 1717)
  ("(distance(agent1 wall2) stable)" 1717 1719)
  ("(distance(agent1 wall2) down)" 1719 1772)
  ("(distance(agent1 wall2) stable)" 1772 1774)
  ("(distance(agent1 wall2) up)" 1774 1821)
  ("(distance(agent1 wall2) stable)" 1821 1823)
  ("(distance(agent1 wall2) down)" 1823 1870)
  ("(distance(agent1 wall2) stable)" 1870 1873)
  ("(distance(agent1 wall2) up)" 1873 1921)
  ("(distance(agent1 wall2) stable)" 1921 1923)
  ("(distance(agent1 wall2) down)" 1923 1972)
  ("(distance(agent1 wall2) stable)" 1972 1974)
  ("(distance(agent1 wall2) up)" 1974 2026)
  ("(distance(agent1 wall2) stable)" 2026 2028)
  ("(distance(agent1 wall2) down)" 2028 2081)
  ("(distance(agent1 wall2) stable)" 2081 2083)
  ("(distance(agent1 wall2) up)" 2083 2133)
  ("(distance(agent1 wall2) stable)" 2133 2136)
  ("(distance(agent1 wall2) down)" 2136 2187)
  ("(distance(agent1 wall2) stable)" 2187 2189)
  ("(distance(agent1 wall2) up)" 2189 2237)
  ("(distance(agent1 wall2) stable)" 2237 2239)
  ("(distance(agent1 wall2) down)" 2239 2286)
  ("(distance(agent1 wall2) stable)" 2286 2288)
  ("(distance(agent1 wall2) up)" 2288 2339)
  ("(distance(agent1 wall2) stable)" 2339 2341)
  ("(distance(agent1 wall2) down)" 2341 2387)
  ("(distance(agent1 wall2) stable)" 2387 2389)
  ("(distance(agent1 wall2) up)" 2389 2392)
  ("(relativeX(agent1 wall2) 5)" 660 709)
  ("(relativeX(agent1 wall2) 4)" 709 723)
  ("(relativeX(agent1 wall2) 3)" 723 734)
  ("(relativeX(agent1 wall2) 2)" 734 747)
  ("(relativeX(agent1 wall2) 1)" 747 973)
  ("(relativeX(agent1 wall2) 4)" 1307 1332)
  ("(relativeX(agent1 wall2) 3)" 1332 1480)
  ("(relativeX(agent1 wall2) 4)" 1480 1536)
  ("(relativeX(agent1 wall2) 3)" 1536 1571)
  ("(relativeX(agent1 wall2) 4)" 1571 1649)
  ("(relativeX(agent1 wall2) 3)" 1649 1677)
  ("(relativeX(agent1 wall2) 4)" 1677 1758)
  ("(relativeX(agent1 wall2) 3)" 1758 1788)
  ("(relativeX(agent1 wall2) 4)" 1788 1854)
  ("(relativeX(agent1 wall2) 3)" 1854 1887)
  ("(relativeX(agent1 wall2) 4)" 1887 1955)
  ("(relativeX(agent1 wall2) 3)" 1955 1988)
  ("(relativeX(agent1 wall2) 4)" 1988 2065)
  ("(relativeX(agent1 wall2) 3)" 2065 2097)
  ("(relativeX(agent1 wall2) 4)" 2097 2170)
  ("(relativeX(agent1 wall2) 3)" 2170 2204)
  ("(relativeX(agent1 wall2) 4)" 2204 2270)
  ("(relativeX(agent1 wall2) 3)" 2270 2302)
  ("(relativeX(agent1 wall2) 4)" 2302 2377)
  ("(relativeX(agent1 wall2) 3)" 2377 2392)
  ("(relativeX(agent1 wall2) up)" 661 811)
  ("(relativeX(agent1 wall2) stable)" 811 815)
  ("(relativeX(agent1 wall2) down)" 815 874)
  ("(relativeX(agent1 wall2) stable)" 874 878)
  ("(relativeX(agent1 wall2) up)" 878 953)
  ("(relativeX(agent1 wall2) stable)" 953 973)
  ("(relativeX(agent1 wall2) down)" 1308 1311)
  ("(relativeX(agent1 wall2) stable)" 1311 1318)
  ("(relativeX(agent1 wall2) up)" 1318 1379)
  ("(relativeX(agent1 wall2) stable)" 1379 1384)
  ("(relativeX(agent1 wall2) down)" 1384 1420)
  ("(relativeX(agent1 wall2) stable)" 1420 1424)
  ("(relativeX(agent1 wall2) up)" 1424 1446)
  ("(relativeX(agent1 wall2) stable)" 1446 1451)
  ("(relativeX(agent1 wall2) down)" 1451 1507)
  ("(relativeX(agent1 wall2) stable)" 1507 1510)
  ("(relativeX(agent1 wall2) up)" 1510 1554)
  ("(relativeX(agent1 wall2) stable)" 1554 1556)
  ("(relativeX(agent1 wall2) down)" 1556 1609)
  ("(relativeX(agent1 wall2) stable)" 1609 1612)
  ("(relativeX(agent1 wall2) up)" 1612 1663)
  ("(relativeX(agent1 wall2) stable)" 1663 1665)
  ("(relativeX(agent1 wall2) down)" 1665 1717)
  ("(relativeX(agent1 wall2) stable)" 1717 1719)
  ("(relativeX(agent1 wall2) up)" 1719 1772)
  ("(relativeX(agent1 wall2) stable)" 1772 1774)
  ("(relativeX(agent1 wall2) down)" 1774 1821)
  ("(relativeX(agent1 wall2) stable)" 1821 1823)
  ("(relativeX(agent1 wall2) up)" 1823 1870)
  ("(relativeX(agent1 wall2) stable)" 1870 1873)
  ("(relativeX(agent1 wall2) down)" 1873 1921)
  ("(relativeX(agent1 wall2) stable)" 1921 1923)
  ("(relativeX(agent1 wall2) up)" 1923 1972)
  ("(relativeX(agent1 wall2) stable)" 1972 1974)
  ("(relativeX(agent1 wall2) down)" 1974 2026)
  ("(relativeX(agent1 wall2) stable)" 2026 2028)
  ("(relativeX(agent1 wall2) up)" 2028 2081)
  ("(relativeX(agent1 wall2) stable)" 2081 2083)
  ("(relativeX(agent1 wall2) down)" 2083 2133)
  ("(relativeX(agent1 wall2) stable)" 2133 2136)
  ("(relativeX(agent1 wall2) up)" 2136 2187)
  ("(relativeX(agent1 wall2) stable)" 2187 2189)
  ("(relativeX(agent1 wall2) down)" 2189 2237)
  ("(relativeX(agent1 wall2) stable)" 2237 2239)
  ("(relativeX(agent1 wall2) up)" 2239 2286)
  ("(relativeX(agent1 wall2) stable)" 2286 2288)
  ("(relativeX(agent1 wall2) down)" 2288 2339)
  ("(relativeX(agent1 wall2) stable)" 2339 2341)
  ("(relativeX(agent1 wall2) up)" 2341 2387)
  ("(relativeX(agent1 wall2) stable)" 2387 2389)
  ("(relativeX(agent1 wall2) down)" 2389 2392)
  ("(relativeY(agent1 wall2) 1)" 660 973)
  ("(relativeY(agent1 wall2) 3)" 1307 1340)
  ("(relativeY(agent1 wall2) 4)" 1340 2392)
  ("(relativeY(agent1 wall2) stable)" 661 755)
  ("(relativeY(agent1 wall2) down)" 755 888)
  ("(relativeY(agent1 wall2) stable)" 888 900)
  ("(relativeY(agent1 wall2) up)" 900 946)
  ("(relativeY(agent1 wall2) stable)" 946 973)
  ("(relativeY(agent1 wall2) down)" 1308 1402)
  ("(relativeY(agent1 wall2) stable)" 1402 1410)
  ("(relativeY(agent1 wall2) up)" 1410 1481)
  ("(relativeY(agent1 wall2) stable)" 1481 1619)
  ("(relativeY(agent1 wall2) up)" 1619 1654)
  ("(relativeY(agent1 wall2) stable)" 1654 1742)
  ("(relativeY(agent1 wall2) up)" 1742 1744)
  ("(relativeY(agent1 wall2) stable)" 1744 1793)
  ("(relativeY(agent1 wall2) down)" 1793 1796)
  ("(relativeY(agent1 wall2) stable)" 1796 1888)
  ("(relativeY(agent1 wall2) down)" 1888 1903)
  ("(relativeY(agent1 wall2) stable)" 1903 1941)
  ("(relativeY(agent1 wall2) up)" 1941 1949)
  ("(relativeY(agent1 wall2) stable)" 1949 1989)
  ("(relativeY(agent1 wall2) down)" 1989 2007)
  ("(relativeY(agent1 wall2) stable)" 2007 2045)
  ("(relativeY(agent1 wall2) up)" 2045 2062)
  ("(relativeY(agent1 wall2) stable)" 2062 2098)
  ("(relativeY(agent1 wall2) down)" 2098 2113)
  ("(relativeY(agent1 wall2) stable)" 2113 2154)
  ("(relativeY(agent1 wall2) up)" 2154 2165)
  ("(relativeY(agent1 wall2) stable)" 2165 2207)
  ("(relativeY(agent1 wall2) down)" 2207 2211)
  ("(relativeY(agent1 wall2) stable)" 2211 2255)
  ("(relativeY(agent1 wall2) up)" 2255 2266)
  ("(relativeY(agent1 wall2) stable)" 2266 2303)
  ("(relativeY(agent1 wall2) down)" 2303 2321)
  ("(relativeY(agent1 wall2) stable)" 2321 2352)
  ("(relativeY(agent1 wall2) up)" 2352 2374)
  ("(relativeY(agent1 wall2) stable)" 2374 2392)
  ("(x(wall4) 3)" 210 1122)
  ("(x(wall4) stable)" 211 1122)
  ("(y(wall4) 3)" 210 1122)
  ("(y(wall4) stable)" 211 1122)
  ("(speed(wall4) 3)" 210 1122)
  ("(speed(wall4) stable)" 211 1122)
  ("(heading(wall4) 3)" 235 1097)
  ("(heading(wall4) stable)" 236 1097)
  ("novel(agent1 wall4)" 1859 1939)
  ("novel(agent1 wall4)" 1771 1851)
  ("novel(agent1 wall4)" 186 268)
  ("collision(agent1 wall4)" 606 621)
  ("(distance(agent1 wall4) 1)" 210 393)
  ("(distance(agent1 wall4) 2)" 393 433)
  ("(distance(agent1 wall4) 3)" 433 472)
  ("(distance(agent1 wall4) 4)" 472 550)
  ("(distance(agent1 wall4) 5)" 550 787)
  ("(distance(agent1 wall4) 4)" 787 852)
  ("(distance(agent1 wall4) 3)" 852 1122)
  ("(distance(agent1 wall4) down)" 211 604)
  ("(distance(agent1 wall4) stable)" 604 752)
  ("(distance(agent1 wall4) up)" 752 889)
  ("(distance(agent1 wall4) stable)" 889 898)
  ("(distance(agent1 wall4) down)" 898 951)
  ("(distance(agent1 wall4) stable)" 951 1122)
  ("(relativeX(agent1 wall4) 5)" 210 451)
  ("(relativeX(agent1 wall4) 4)" 451 570)
  ("(relativeX(agent1 wall4) 3)" 570 658)
  ("(relativeX(agent1 wall4) 2)" 658 759)
  ("(relativeX(agent1 wall4) 1)" 759 1122)
  ("(relativeX(agent1 wall4) up)" 211 800)
  ("(relativeX(agent1 wall4) stable)" 800 832)
  ("(relativeX(agent1 wall4) down)" 832 858)
  ("(relativeX(agent1 wall4) stable)" 858 893)
  ("(relativeX(agent1 wall4) up)" 893 923)
  ("(relativeX(agent1 wall4) stable)" 923 1122)
  ("(relativeY(agent1 wall4) 5)" 210 393)
  ("(relativeY(agent1 wall4) 4)" 393 433)
  ("(relativeY(agent1 wall4) 3)" 433 472)
  ("(relativeY(agent1 wall4) 2)" 472 550)
  ("(relativeY(agent1 wall4) 1)" 550 787)
  ("(relativeY(agent1 wall4) 2)" 787 852)
  ("(relativeY(agent1 wall4) 3)" 852 1122)
  ("(relativeY(agent1 wall4) up)" 211 604)
  ("(relativeY(agent1 wall4) stable)" 604 752)
  ("(relativeY(agent1 wall4) down)" 752 889)
  ("(relativeY(agent1 wall4) stable)" 889 898)
  ("(relativeY(agent1 wall4) up)" 898 951)
  ("(relativeY(agent1 wall4) stable)" 951 1122)
 ))
(3
 (
  ("(x(agent1) 1)" 25 220)
  ("(x(agent1) 2)" 220 264)
  ("(x(agent1) 3)" 264 336)
  ("(x(agent1) 4)" 336 436)
  ("(x(agent1) 3)" 436 565)
  ("(x(agent1) 4)" 565 2372)
  ("(x(agent1) down)" 26 366)
  ("(x(agent1) stable)" 366 413)
  ("(x(agent1) up)" 413 501)
  ("(x(agent1) stable)" 501 509)
  ("(x(agent1) down)" 509 588)
  ("(x(agent1) stable)" 588 2022)
  ("(x(agent1) up)" 2022 2043)
  ("(x(agent1) stable)" 2043 2372)
  ("(y(agent1) 5)" 25 337)
  ("(y(agent1) 4)" 337 379)
  ("(y(agent1) 3)" 379 414)
  ("(y(agent1) 2)" 414 961)
  ("(y(agent1) 3)" 961 977)
  ("(y(agent1) 2)" 977 1069)
  ("(y(agent1) 3)" 1069 1086)
  ("(y(agent1) 2)" 1086 2372)
  ("(y(agent1) up)" 26 465)
  ("(y(agent1) stable)" 465 473)
  ("(y(agent1) down)" 473 587)
  ("(y(agent1) stable)" 587 598)
  ("(y(agent1) up)" 598 621)
  ("(y(agent1) stable)" 621 639)
  ("(y(agent1) down)" 639 660)
  ("(y(agent1) stable)" 660 671)
  ("(y(agent1) up)" 671 712)
  ("(y(agent1) stable)" 712 720)
  ("(y(agent1) down)" 720 762)
  ("(y(agent1) stable)" 762 770)
  ("(y(agent1) up)" 770 814)
  ("(y(agent1) stable)" 814 822)
  ("(y(agent1) down)" 822 863)
  ("(y(agent1) stable)" 863 870)
  ("(y(agent1) up)" 870 912)
  ("(y(agent1) stable)" 912 919)
  ("(y(agent1) down)" 919 966)
  ("(y(agent1) stable)" 966 973)
  ("(y(agent1) up)" 973 1021)
  ("(y(agent1) stable)" 1021 1028)
  ("(y(agent1) down)" 1028 1074)
  ("(y(agent1) stable)" 1074 1081)
  ("(y(agent1) up)" 1081 1130)
  ("(y(agent1) stable)" 1130 1137)
  ("(y(agent1) down)" 1137 1177)
  ("(y(agent1) stable)" 1177 1184)
  ("(y(agent1) up)" 1184 1226)
  ("(y(agent1) stable)" 1226 1233)
  ("(y(agent1) down)" 1233 1280)
  ("(y(agent1) stable)" 1280 1287)
  ("(y(agent1) up)" 1287 1335)
  ("(y(agent1) stable)" 1335 1342)
  ("(y(agent1) down)" 1342 1386)
  ("(y(agent1) stable)" 1386 1392)
  ("(y(agent1) up)" 1392 1441)
  ("(y(agent1) stable)" 1441 1447)
  ("(y(agent1) down)" 1447 1486)
  ("(y(agent1) stable)" 1486 1492)
  ("(y(agent1) up)" 1492 1536)
  ("(y(agent1) stable)" 1536 1542)
  ("(y(agent1) down)" 1542 1589)
  ("(y(agent1) stable)" 1589 1594)
  ("(y(agent1) up)" 1594 1641)
  ("(y(agent1) stable)" 1641 1647)
  ("(y(agent1) down)" 1647 1695)
  ("(y(agent1) stable)" 1695 1701)
  ("(y(agent1) up)" 1701 1750)
  ("(y(agent1) stable)" 1750 1756)
  ("(y(agent1) down)" 1756 1801)
  ("(y(agent1) stable)" 1801 1807)
  ("(y(agent1) up)" 1807 1853)
  ("(y(agent1) stable)" 1853 1859)
  ("(y(agent1) down)" 1859 1901)
  ("(y(agent1) stable)" 1901 1906)
  ("(y(agent1) up)" 1906 1948)
  ("(y(agent1) stable)" 1948 1954)
  ("(y(agent1) down)" 1954 2003)
  ("(y(agent1) stable)" 2003 2009)
  ("(y(agent1) up)" 2009 2058)
  ("(y(agent1) stable)" 2058 2063)
  ("(y(agent1) down)" 2063 2111)
  ("(y(agent1) stable)" 2111 2117)
  ("(y(agent1) up)" 2117 2167)
  ("(y(agent1) stable)" 2167 2172)
  ("(y(agent1) down)" 2172 2215)
  ("(y(agent1) stable)" 2215 2221)
  ("(y(agent1) up)" 2221 2265)
  ("(y(agent1) stable)" 2265 2270)
  ("(y(agent1) down)" 2270 2319)
  ("(y(agent1) stable)" 2319 2324)
  ("(y(agent1) up)" 2324 2372)
  ("(speed(agent1) 4)" 25 30)
  ("(speed(agent1) 3)" 30 39)
  ("(speed(agent1) 2)" 39 53)
  ("(speed(agent1) 1)" 53 443)
  ("(speed(agent1) 2)" 443 451)
  ("(speed(agent1) 3)" 451 459)
  ("(speed(agent1) 4)" 459 568)
  ("(speed(agent1) 5)" 568 685)
  ("(speed(agent1) 4)" 685 739)
  ("(speed(agent1) 5)" 739 782)
  ("(speed(agent1) 4)" 782 810)
  ("(speed(agent1) 3)" 810 827)
  ("(speed(agent1) 4)" 827 845)
  ("(speed(agent1) 5)" 845 882)
  ("(speed(agent1) 4)" 882 912)
  ("(speed(agent1) 3)" 912 930)
  ("(speed(agent1) 4)" 930 956)
  ("(speed(agent1) 5)" 956 986)
  ("(speed(agent1) 4)" 986 1007)
  ("(speed(agent1) 3)" 1007 1040)
  ("(speed(agent1) 4)" 1040 1065)
  ("(speed(agent1) 5)" 1065 1094)
  ("(speed(agent1) 4)" 1094 1112)
  ("(speed(agent1) 3)" 1112 1144)
  ("(speed(agent1) 4)" 1144 1160)
  ("(speed(agent1) 5)" 1160 1196)
  ("(speed(agent1) 4)" 1196 1227)
  ("(speed(agent1) 3)" 1227 1244)
  ("(speed(agent1) 4)" 1244 1270)
  ("(speed(agent1) 5)" 1270 1300)
  ("(speed(agent1) 4)" 1300 1321)
  ("(speed(agent1) 3)" 1321 1354)
  ("(speed(agent1) 4)" 1354 1409)
  ("(speed(agent1) 3)" 1409 1456)
  ("(speed(agent1) 4)" 1456 1510)
  ("(speed(agent1) 3)" 1510 1535)
  ("(speed(agent1) 2)" 1535 1552)
  ("(speed(agent1) 3)" 1552 1566)
  ("(speed(agent1) 4)" 1566 1611)
  ("(speed(agent1) 3)" 1611 1631)
  ("(speed(agent1) 2)" 1631 1659)
  ("(speed(agent1) 3)" 1659 1675)
  ("(speed(agent1) 4)" 1675 1717)
  ("(speed(agent1) 3)" 1717 1738)
  ("(speed(agent1) 2)" 1738 1764)
  ("(speed(agent1) 3)" 1764 1775)
  ("(speed(agent1) 4)" 1775 1823)
  ("(speed(agent1) 3)" 1823 1844)
  ("(speed(agent1) 2)" 1844 1866)
  ("(speed(agent1) 3)" 1866 1875)
  ("(speed(agent1) 4)" 1875 1927)
  ("(speed(agent1) 3)" 1927 1949)
  ("(speed(agent1) 2)" 1949 1967)
  ("(speed(agent1) 3)" 1967 1983)
  ("(speed(agent1) 4)" 1983 2025)
  ("(speed(agent1) 3)" 2025 2041)
  ("(speed(agent1) 2)" 2041 2077)
  ("(speed(agent1) 3)" 2077 2093)
  ("(speed(agent1) 4)" 2093 2134)
  ("(speed(agent1) 3)" 2134 2147)
  ("(speed(agent1) 2)" 2147 2181)
  ("(speed(agent1) 3)" 2181 2189)
  ("(speed(agent1) 4)" 2189 2238)
  ("(speed(agent1) 3)" 2238 2262)
  ("(speed(agent1) 2)" 2262 2284)
  ("(speed(agent1) 3)" 2284 2300)
  ("(speed(agent1) 4)" 2300 2337)
  ("(speed(agent1) 3)" 2337 2344)
  ("(speed(agent1) 2)" 2344 2357)
  ("(speed(agent1) 3)" 2357 2370)
  ("(speed(agent1) 4)" 2370 2372)
  ("(speed(agent1) up)" 26 127)
  ("(speed(agent1) down)" 127 181)
  ("(speed(agent1) up)" 181 347)
  ("(speed(agent1) stable)" 347 351)
  ("(speed(agent1) up)" 351 388)
  ("(speed(agent1) stable)" 388 392)
  ("(speed(agent1) up)" 392 404)
  ("(speed(agent1) stable)" 404 405)
  ("(speed(agent1) down)" 405 476)
  ("(speed(agent1) stable)" 476 477)
  ("(speed(agent1) up)" 477 485)
  ("(speed(agent1) down)" 485 496)
  ("(speed(agent1) stable)" 496 501)
  ("(speed(agent1) up)" 501 525)
  ("(speed(agent1) stable)" 525 527)
  ("(speed(agent1) down)" 527 536)
  ("(speed(agent1) up)" 536 542)
  ("(speed(agent1) down)" 542 593)
  ("(speed(agent1) up)" 593 599)
  ("(speed(agent1) down)" 599 611)
  ("(speed(agent1) stable)" 611 613)
  ("(speed(agent1) up)" 613 632)
  ("(speed(agent1) stable)" 632 633)
  ("(speed(agent1) down)" 633 650)
  ("(speed(agent1) up)" 650 686)
  ("(speed(agent1) down)" 686 688)
  ("(speed(agent1) up)" 688 721)
  ("(speed(agent1) down)" 721 770)
  ("(speed(agent1) stable)" 770 771)
  ("(speed(agent1) up)" 771 820)
  ("(speed(agent1) stable)" 820 821)
  ("(speed(agent1) down)" 821 871)
  ("(speed(agent1) stable)" 871 872)
  ("(speed(agent1) up)" 872 923)
  ("(speed(agent1) stable)" 923 924)
  ("(speed(agent1) down)" 924 974)
  ("(speed(agent1) stable)" 974 975)
  ("(speed(agent1) up)" 975 1030)
  ("(speed(agent1) down)" 1030 1082)
  ("(speed(agent1) stable)" 1082 1083)
  ("(speed(agent1) up)" 1083 1134)
  ("(speed(agent1) down)" 1134 1185)
  ("(speed(agent1) stable)" 1185 1186)
  ("(speed(agent1) up)" 1186 1237)
  ("(speed(agent1) stable)" 1237 1238)
  ("(speed(agent1) down)" 1238 1288)
  ("(speed(agent1) stable)" 1288 1289)
  ("(speed(agent1) up)" 1289 1344)
  ("(speed(agent1) stable)" 1344 1345)
  ("(speed(agent1) down)" 1345 1392)
  ("(speed(agent1) stable)" 1392 1394)
  ("(speed(agent1) up)" 1394 1443)
  ("(speed(agent1) stable)" 1443 1444)
  ("(speed(agent1) down)" 1444 1494)
  ("(speed(agent1) up)" 1494 1545)
  ("(speed(agent1) down)" 1545 1596)
  ("(speed(agent1) up)" 1596 1650)
  ("(speed(agent1) stable)" 1650 1651)
  ("(speed(agent1) down)" 1651 1702)
  ("(speed(agent1) stable)" 1702 1703)
  ("(speed(agent1) up)" 1703 1756)
  ("(speed(agent1) stable)" 1756 1757)
  ("(speed(agent1) down)" 1757 1809)
  ("(speed(agent1) up)" 1809 1858)
  ("(speed(agent1) down)" 1858 1908)
  ("(speed(agent1) stable)" 1908 1909)
  ("(speed(agent1) up)" 1909 1959)
  ("(speed(agent1) stable)" 1959 1960)
  ("(speed(agent1) down)" 1960 2010)
  ("(speed(agent1) stable)" 2010 2011)
  ("(speed(agent1) up)" 2011 2066)
  ("(speed(agent1) down)" 2066 2119)
  ("(speed(agent1) up)" 2119 2171)
  ("(speed(agent1) down)" 2171 2223)
  ("(speed(agent1) up)" 2223 2275)
  ("(speed(agent1) down)" 2275 2325)
  ("(speed(agent1) up)" 2325 2346)
  ("(speed(agent1) stable)" 2346 2347)
  ("(speed(agent1) down)" 2347 2372)
  ("(heading(agent1) 1)" 50 252)
  ("(heading(agent1) 2)" 252 336)
  ("(heading(agent1) 3)" 336 428)
  ("(heading(agent1) 4)" 428 455)
  ("(heading(agent1) 5)" 455 695)
  ("(heading(agent1) 4)" 695 728)
  ("(heading(agent1) 3)" 728 2347)
  ("(heading(agent1) up)" 51 107)
  ("(heading(agent1) stable)" 107 116)
  ("(heading(agent1) down)" 116 339)
  ("(heading(agent1) stable)" 339 342)
  ("(heading(agent1) down)" 342 351)
  ("(heading(agent1) stable)" 351 385)
  ("(heading(agent1) down)" 385 551)
  ("(heading(agent1) stable)" 551 557)
  ("(heading(agent1) up)" 557 758)
  ("(heading(agent1) stable)" 758 2346)
  ("(heading(agent1) up)" 2346 2347)
  ("(energy(agent1) 1)" 25 624)
  ("(energy(agent1) 2)" 624 1115)
  ("(energy(agent1) 3)" 1115 1458)
  ("(energy(agent1) 4)" 1458 1770)
  ("(energy(agent1) 5)" 1770 2372)
  ("(energy(agent1) stable)" 26 486)
  ("(energy(agent1) down)" 486 581)
  ("(energy(agent1) stable)" 581 600)
  ("(energy(agent1) down)" 600 651)
  ("(energy(agent1) stable)" 651 687)
  ("(energy(agent1) down)" 687 738)
  ("(energy(agent1) stable)" 738 789)
  ("(energy(agent1) down)" 789 840)
  ("(energy(agent1) stable)" 840 887)
  ("(energy(agent1) down)" 887 938)
  ("(energy(agent1) stable)" 938 995)
  ("(energy(agent1) down)" 995 1046)
  ("(energy(agent1) stable)" 1046 1104)
  ("(energy(agent1) down)" 1104 1155)
  ("(energy(agent1) stable)" 1155 1201)
  ("(energy(agent1) down)" 1201 1252)
  ("(energy(agent1) stable)" 1252 1309)
  ("(energy(agent1) down)" 1309 1360)
  ("(energy(agent1) stable)" 1360 1413)
  ("(energy(agent1) down)" 1413 1464)
  ("(energy(agent1) stable)" 1464 1510)
  ("(energy(agent1) down)" 1510 1561)
  ("(energy(agent1) stable)" 1561 1615)
  ("(energy(agent1) down)" 1615 1666)
  ("(energy(agent1) stable)" 1666 1723)
  ("(energy(agent1) down)" 1723 1774)
  ("(energy(agent1) stable)" 1774 1827)
  ("(energy(agent1) down)" 1827 1878)
  ("(energy(agent1) stable)" 1878 1923)
  ("(energy(agent1) down)" 1923 1974)
  ("(energy(agent1) stable)" 1974 2031)
  ("(energy(agent1) down)" 2031 2082)
  ("(energy(agent1) stable)" 2082 2140)
  ("(energy(agent1) down)" 2140 2191)
  ("(energy(agent1) stable)" 2191 2239)
  ("(energy(agent1) down)" 2239 2290)
  ("(energy(agent1) stable)" 2290 2372)
  ("(arousal(agent1) 5)" 25 610)
  ("(arousal(agent1) 4)" 610 648)
  ("(arousal(agent1) 3)" 648 705)
  ("(arousal(agent1) 2)" 705 2372)
  ("(arousal(agent1) down)" 26 410)
  ("(arousal(agent1) stable)" 410 428)
  ("(arousal(agent1) up)" 428 580)
  ("(arousal(agent1) down)" 580 586)
  ("(arousal(agent1) stable)" 586 599)
  ("(arousal(agent1) up)" 599 737)
  ("(arousal(agent1) stable)" 737 757)
  ("(arousal(agent1) down)" 757 788)
  ("(arousal(agent1) stable)" 788 839)
  ("(arousal(agent1) down)" 839 886)
  ("(arousal(agent1) up)" 886 937)
  ("(arousal(agent1) down)" 937 963)
  ("(arousal(agent1) stable)" 963 979)
  ("(arousal(agent1) up)" 979 1024)
  ("(arousal(agent1) stable)" 1024 1061)
  ("(arousal(agent1) down)" 1061 1064)
  ("(arousal(agent1) stable)" 1064 1112)
  ("(arousal(agent1) up)" 1112 1115)
  ("(arousal(agent1) stable)" 1115 1169)
  ("(arousal(agent1) down)" 1169 1200)
  ("(arousal(agent1) stable)" 1200 1251)
  ("(arousal(agent1) down)" 1251 1276)
  ("(arousal(agent1) stable)" 1276 1293)
  ("(arousal(agent1) up)" 1293 1337)
  ("(arousal(agent1) stable)" 1337 1373)
  ("(arousal(agent1) down)" 1373 1376)
  ("(arousal(agent1) stable)" 1376 1424)
  ("(arousal(agent1) up)" 1424 1427)
  ("(arousal(agent1) stable)" 1427 1580)
  ("(arousal(agent1) down)" 1580 1588)
  ("(arousal(agent1) stable)" 1588 1631)
  ("(arousal(agent1) up)" 1631 1639)
  ("(arousal(agent1) stable)" 1639 1692)
  ("(arousal(agent1) down)" 1692 1696)
  ("(arousal(agent1) stable)" 1696 1743)
  ("(arousal(agent1) up)" 1743 1747)
  ("(arousal(agent1) stable)" 1747 1995)
  ("(arousal(agent1) down)" 1995 2005)
  ("(arousal(agent1) stable)" 2005 2046)
  ("(arousal(agent1) up)" 2046 2056)
  ("(arousal(agent1) stable)" 2056 2109)
  ("(arousal(agent1) down)" 2109 2112)
  ("(arousal(agent1) stable)" 2112 2160)
  ("(arousal(agent1) up)" 2160 2163)
  ("(arousal(agent1) stable)" 2163 2313)
  ("(arousal(agent1) down)" 2313 2321)
  ("(arousal(agent1) stable)" 2321 2364)
  ("(arousal(agent1) up)" 2364 2372)
  ("(valence(agent1) 5)" 25 609)
  ("(valence(agent1) 4)" 609 691)
  ("(valence(agent1) 3)" 691 718)
  ("(valence(agent1) 2)" 718 2372)
  ("(valence(agent1) stable)" 26 485)
  ("(valence(agent1) up)" 485 580)
  ("(valence(agent1) down)" 580 599)
  ("(valence(agent1) up)" 599 650)
  ("(valence(agent1) down)" 650 686)
  ("(valence(agent1) up)" 686 737)
  ("(valence(agent1) down)" 737 788)
  ("(valence(agent1) up)" 788 839)
  ("(valence(agent1) down)" 839 886)
  ("(valence(agent1) up)" 886 937)
  ("(valence(agent1) down)" 937 994)
  ("(valence(agent1) up)" 994 1045)
  ("(valence(agent1) down)" 1045 1103)
  ("(valence(agent1) up)" 1103 1154)
  ("(valence(agent1) down)" 1154 1200)
  ("(valence(agent1) up)" 1200 1251)
  ("(valence(agent1) down)" 1251 1308)
  ("(valence(agent1) up)" 1308 1359)
  ("(valence(agent1) down)" 1359 1412)
  ("(valence(agent1) up)" 1412 1463)
  ("(valence(agent1) down)" 1463 1509)
  ("(valence(agent1) up)" 1509 1560)
  ("(valence(agent1) down)" 1560 1614)
  ("(valence(agent1) up)" 1614 1665)
  ("(valence(agent1) stable)" 1665 1668)
  ("(valence(agent1) down)" 1668 1722)
  ("(valence(agent1) up)" 1722 1773)
  ("(valence(agent1) down)" 1773 1826)
  ("(valence(agent1) up)" 1826 1877)
  ("(valence(agent1) down)" 1877 1922)
  ("(valence(agent1) up)" 1922 1973)
  ("(valence(agent1) down)" 1973 2030)
  ("(valence(agent1) up)" 2030 2081)
  ("(valence(agent1) down)" 2081 2139)
  ("(valence(agent1) up)" 2139 2190)
  ("(valence(agent1) down)" 2190 2238)
  ("(valence(agent1) up)" 2238 2289)
  ("(valence(agent1) down)" 2289 2346)
  ("(valence(agent1) up)" 2346 2372)
  ("(goal(agent1) WanderGoal)" 0 427)
  ("(goal(agent1) PursueGoal)" 427 2373)
  ("(goal(agent1) WanderGoal)" 2373 2397)
  ("(state(agent1) wander)" 0 427)
  ("(state(agent1) charge)" 427 510)
  ("(state(agent1) back-away)" 510 544)
  ("(state(agent1) charge)" 544 554)
  ("(state(agent1) back-away)" 554 585)
  ("(state(agent1) charge)" 585 623)
  ("(state(agent1) back-away)" 623 654)
  ("(state(agent1) charge)" 654 710)
  ("(state(agent1) back-away)" 710 742)
  ("(state(agent1) charge)" 742 812)
  ("(state(agent1) back-away)" 812 842)
  ("(state(agent1) charge)" 842 910)
  ("(state(agent1) back-away)" 910 944)
  ("(state(agent1) charge)" 944 1018)
  ("(state(agent1) back-away)" 1018 1052)
  ("(state(agent1) charge)" 1052 1127)
  ("(state(agent1) back-away)" 1127 1156)
  ("(state(agent1) charge)" 1156 1224)
  ("(state(agent1) back-away)" 1224 1258)
  ("(state(agent1) charge)" 1258 1332)
  ("(state(agent1) back-away)" 1332 1366)
  ("(state(agent1) charge)" 1366 1436)
  ("(state(agent1) back-away)" 1436 1466)
  ("(state(agent1) charge)" 1466 1533)
  ("(state(agent1) back-away)" 1533 1566)
  ("(state(agent1) charge)" 1566 1638)
  ("(state(agent1) back-away)" 1638 1672)
  ("(state(agent1) charge)" 1672 1747)
  ("(state(agent1) back-away)" 1747 1779)
  ("(state(agent1) charge)" 1779 1850)
  ("(state(agent1) back-away)" 1850 1879)
  ("(state(agent1) charge)" 1879 1946)
  ("(state(agent1) back-away)" 1946 1980)
  ("(state(agent1) charge)" 1980 2054)
  ("(state(agent1) back-away)" 2054 2088)
  ("(state(agent1) charge)" 2088 2163)
  ("(state(agent1) back-away)" 2163 2193)
  ("(state(agent1) charge)" 2193 2262)
  ("(state(agent1) back-away)" 2262 2296)
  ("(state(agent1) charge)" 2296 2370)
  ("(state(agent1) back-away)" 2370 2373)
  ("(state(agent1) wander)" 2373 2397)
  ("(x(agent2) 5)" 634 925)
  ("(x(agent2) 4)" 925 963)
  ("(x(agent2) 3)" 963 1053)
  ("(x(agent2) 2)" 1053 1095)
  ("(x(agent2) 3)" 1095 1139)
  ("(x(agent2) 4)" 1139 1374)
  ("(x(agent2) 5)" 1374 1456)
  ("(x(agent2) 4)" 1456 1496)
  ("(x(agent2) 5)" 1496 1665)
  ("(x(agent2) 4)" 1665 1769)
  ("(x(agent2) 3)" 1769 1794)
  ("(x(agent2) 2)" 1794 1877)
  ("(x(agent2) 1)" 1877 2372)
  ("(x(agent2) stable)" 635 794)
  ("(x(agent2) up)" 794 803)
  ("(x(agent2) stable)" 803 846)
  ("(x(agent2) down)" 846 852)
  ("(x(agent2) stable)" 852 896)
  ("(x(agent2) up)" 896 989)
  ("(x(agent2) stable)" 989 1007)
  ("(x(agent2) up)" 1007 1073)
  ("(x(agent2) stable)" 1073 1077)
  ("(x(agent2) down)" 1077 1185)
  ("(x(agent2) stable)" 1185 1205)
  ("(x(agent2) up)" 1205 1264)
  ("(x(agent2) stable)" 1264 1273)
  ("(x(agent2) down)" 1273 1395)
  ("(x(agent2) stable)" 1395 1427)
  ("(x(agent2) up)" 1427 1468)
  ("(x(agent2) stable)" 1468 1484)
  ("(x(agent2) down)" 1484 1562)
  ("(x(agent2) stable)" 1562 1627)
  ("(x(agent2) up)" 1627 1712)
  ("(x(agent2) stable)" 1712 1734)
  ("(x(agent2) up)" 1734 1816)
  ("(x(agent2) stable)" 1816 1819)
  ("(x(agent2) down)" 1819 1841)
  ("(x(agent2) stable)" 1841 1844)
  ("(x(agent2) up)" 1844 1909)
  ("(x(agent2) stable)" 1909 1910)
  ("(x(agent2) down)" 1910 1944)
  ("(x(agent2) stable)" 1944 1947)
  ("(x(agent2) up)" 1947 2005)
  ("(x(agent2) stable)" 2005 2007)
  ("(x(agent2) down)" 2007 2071)
  ("(x(agent2) stable)" 2071 2073)
  ("(x(agent2) up)" 2073 2123)
  ("(x(agent2) stable)" 2123 2127)
  ("(x(agent2) down)" 2127 2151)
  ("(x(agent2) stable)" 2151 2154)
  ("(x(agent2) up)" 2154 2213)
  ("(x(agent2) stable)" 2213 2214)
  ("(x(agent2) down)" 2214 2274)
  ("(x(agent2) stable)" 2274 2276)
  ("(x(agent2) up)" 2276 2323)
  ("(x(agent2) stable)" 2323 2325)
  ("(x(agent2) down)" 2325 2363)
  ("(x(agent2) stable)" 2363 2366)
  ("(x(agent2) up)" 2366 2372)
  ("(y(agent2) 5)" 634 746)
  ("(y(agent2) 4)" 746 788)
  ("(y(agent2) 5)" 788 843)
  ("(y(agent2) 4)" 843 889)
  ("(y(agent2) 5)" 889 938)
  ("(y(agent2) 4)" 938 952)
  ("(y(agent2) 3)" 952 987)
  ("(y(agent2) 4)" 987 1000)
  ("(y(agent2) 5)" 1000 1045)
  ("(y(agent2) 4)" 1045 1059)
  ("(y(agent2) 3)" 1059 1096)
  ("(y(agent2) 4)" 1096 1110)
  ("(y(agent2) 5)" 1110 1155)
  ("(y(agent2) 4)" 1155 1204)
  ("(y(agent2) 5)" 1204 1250)
  ("(y(agent2) 4)" 1250 1263)
  ("(y(agent2) 3)" 1263 1303)
  ("(y(agent2) 4)" 1303 1317)
  ("(y(agent2) 5)" 1317 1357)
  ("(y(agent2) 4)" 1357 1370)
  ("(y(agent2) 3)" 1370 1413)
  ("(y(agent2) 4)" 1413 1458)
  ("(y(agent2) 3)" 1458 1468)
  ("(y(agent2) 2)" 1468 1485)
  ("(y(agent2) 1)" 1485 1498)
  ("(y(agent2) 2)" 1498 1514)
  ("(y(agent2) 3)" 1514 1530)
  ("(y(agent2) 4)" 1530 1544)
  ("(y(agent2) 3)" 1544 1557)
  ("(y(agent2) 2)" 1557 1568)
  ("(y(agent2) 1)" 1568 1613)
  ("(y(agent2) 2)" 1613 1625)
  ("(y(agent2) 3)" 1625 1660)
  ("(y(agent2) 2)" 1660 1671)
  ("(y(agent2) 1)" 1671 1724)
  ("(y(agent2) 2)" 1724 1735)
  ("(y(agent2) 3)" 1735 1769)
  ("(y(agent2) 2)" 1769 1781)
  ("(y(agent2) 1)" 1781 1825)
  ("(y(agent2) 2)" 1825 1838)
  ("(y(agent2) 3)" 1838 1872)
  ("(y(agent2) 2)" 1872 1885)
  ("(y(agent2) 1)" 1885 1920)
  ("(y(agent2) 2)" 1920 1934)
  ("(y(agent2) 3)" 1934 1966)
  ("(y(agent2) 2)" 1966 1977)
  ("(y(agent2) 1)" 1977 2033)
  ("(y(agent2) 2)" 2033 2045)
  ("(y(agent2) 3)" 2045 2073)
  ("(y(agent2) 2)" 2073 2084)
  ("(y(agent2) 1)" 2084 2142)
  ("(y(agent2) 2)" 2142 2155)
  ("(y(agent2) 3)" 2155 2182)
  ("(y(agent2) 2)" 2182 2194)
  ("(y(agent2) 1)" 2194 2239)
  ("(y(agent2) 2)" 2239 2253)
  ("(y(agent2) 3)" 2253 2280)
  ("(y(agent2) 2)" 2280 2291)
  ("(y(agent2) 1)" 2291 2352)
  ("(y(agent2) 2)" 2352 2370)
  ("(y(agent2) 3)" 2370 2372)
  ("(y(agent2) up)" 635 678)
  ("(y(agent2) stable)" 678 679)
  ("(y(agent2) down)" 679 710)
  ("(y(agent2) stable)" 710 711)
  ("(y(agent2) up)" 711 767)
  ("(y(agent2) stable)" 767 768)
  ("(y(agent2) down)" 768 816)
  ("(y(agent2) stable)" 816 817)
  ("(y(agent2) up)" 817 866)
  ("(y(agent2) stable)" 866 867)
  ("(y(agent2) down)" 867 915)
  ("(y(agent2) stable)" 915 916)
  ("(y(agent2) up)" 916 970)
  ("(y(agent2) stable)" 970 971)
  ("(y(agent2) down)" 971 1024)
  ("(y(agent2) up)" 1024 1078)
  ("(y(agent2) stable)" 1078 1079)
  ("(y(agent2) down)" 1079 1132)
  ("(y(agent2) stable)" 1132 1133)
  ("(y(agent2) up)" 1133 1180)
  ("(y(agent2) stable)" 1180 1181)
  ("(y(agent2) down)" 1181 1229)
  ("(y(agent2) up)" 1229 1284)
  ("(y(agent2) stable)" 1284 1285)
  ("(y(agent2) down)" 1285 1338)
  ("(y(agent2) up)" 1338 1392)
  ("(y(agent2) stable)" 1392 1393)
  ("(y(agent2) down)" 1393 1437)
  ("(y(agent2) stable)" 1437 1438)
  ("(y(agent2) up)" 1438 1491)
  ("(y(agent2) stable)" 1491 1492)
  ("(y(agent2) down)" 1492 1537)
  ("(y(agent2) stable)" 1537 1538)
  ("(y(agent2) up)" 1538 1591)
  ("(y(agent2) stable)" 1591 1592)
  ("(y(agent2) down)" 1592 1644)
  ("(y(agent2) up)" 1644 1698)
  ("(y(agent2) stable)" 1698 1699)
  ("(y(agent2) down)" 1699 1753)
  ("(y(agent2) up)" 1753 1804)
  ("(y(agent2) stable)" 1804 1805)
  ("(y(agent2) down)" 1805 1855)
  ("(y(agent2) stable)" 1855 1856)
  ("(y(agent2) up)" 1856 1903)
  ("(y(agent2) stable)" 1903 1904)
  ("(y(agent2) down)" 1904 1951)
  ("(y(agent2) stable)" 1951 1952)
  ("(y(agent2) up)" 1952 2006)
  ("(y(agent2) down)" 2006 2060)
  ("(y(agent2) up)" 2060 2114)
  ("(y(agent2) stable)" 2114 2115)
  ("(y(agent2) down)" 2115 2169)
  ("(y(agent2) up)" 2169 2218)
  ("(y(agent2) down)" 2218 2267)
  ("(y(agent2) stable)" 2267 2268)
  ("(y(agent2) up)" 2268 2322)
  ("(y(agent2) down)" 2322 2372)
  ("(speed(agent2) 4)" 634 649)
  ("(speed(agent2) 5)" 649 706)
  ("(speed(agent2) 4)" 706 714)
  ("(speed(agent2) 3)" 714 736)
  ("(speed(agent2) 4)" 736 748)
  ("(speed(agent2) 5)" 748 786)
  ("(speed(agent2) 4)" 786 797)
  ("(speed(agent2) 3)" 797 810)
  ("(speed(agent2) 2)" 810 829)
  ("(speed(agent2) 3)" 829 834)
  ("(speed(agent2) 4)" 834 841)
  ("(speed(agent2) 5)" 841 885)
  ("(speed(agent2) 4)" 885 899)
  ("(speed(agent2) 3)" 899 912)
  ("(speed(agent2) 2)" 912 931)
  ("(speed(agent2) 3)" 931 938)
  ("(speed(agent2) 4)" 938 951)
  ("(speed(agent2) 5)" 951 988)
  ("(speed(agent2) 4)" 988 993)
  ("(speed(agent2) 3)" 993 1006)
  ("(speed(agent2) 2)" 1006 1040)
  ("(speed(agent2) 3)" 1040 1048)
  ("(speed(agent2) 4)" 1048 1060)
  ("(speed(agent2) 5)" 1060 1096)
  ("(speed(agent2) 4)" 1096 1101)
  ("(speed(agent2) 3)" 1101 1112)
  ("(speed(agent2) 2)" 1112 1144)
  ("(speed(agent2) 3)" 1144 1149)
  ("(speed(agent2) 4)" 1149 1153)
  ("(speed(agent2) 5)" 1153 1199)
  ("(speed(agent2) 4)" 1199 1212)
  ("(speed(agent2) 3)" 1212 1226)
  ("(speed(agent2) 2)" 1226 1245)
  ("(speed(agent2) 3)" 1245 1252)
  ("(speed(agent2) 4)" 1252 1265)
  ("(speed(agent2) 5)" 1265 1302)
  ("(speed(agent2) 4)" 1302 1307)
  ("(speed(agent2) 3)" 1307 1320)
  ("(speed(agent2) 2)" 1320 1354)
  ("(speed(agent2) 3)" 1354 1362)
  ("(speed(agent2) 4)" 1362 1374)
  ("(speed(agent2) 5)" 1374 1410)
  ("(speed(agent2) 4)" 1410 1419)
  ("(speed(agent2) 3)" 1419 1426)
  ("(speed(agent2) 2)" 1426 1435)
  ("(speed(agent2) 1)" 1435 1460)
  ("(speed(agent2) 2)" 1460 1467)
  ("(speed(agent2) 3)" 1467 1477)
  ("(speed(agent2) 4)" 1477 1491)
  ("(speed(agent2) 5)" 1491 1500)
  ("(speed(agent2) 4)" 1500 1507)
  ("(speed(agent2) 3)" 1507 1516)
  ("(speed(agent2) 2)" 1516 1525)
  ("(speed(agent2) 1)" 1525 1558)
  ("(speed(agent2) 2)" 1558 1568)
  ("(speed(agent2) 3)" 1568 1578)
  ("(speed(agent2) 4)" 1578 1592)
  ("(speed(agent2) 5)" 1592 1600)
  ("(speed(agent2) 4)" 1600 1607)
  ("(speed(agent2) 3)" 1607 1611)
  ("(speed(agent2) 2)" 1611 1618)
  ("(speed(agent2) 1)" 1618 1667)
  ("(speed(agent2) 2)" 1667 1677)
  ("(speed(agent2) 3)" 1677 1686)
  ("(speed(agent2) 4)" 1686 1698)
  ("(speed(agent2) 5)" 1698 1707)
  ("(speed(agent2) 4)" 1707 1714)
  ("(speed(agent2) 3)" 1714 1717)
  ("(speed(agent2) 2)" 1717 1721)
  ("(speed(agent2) 1)" 1721 1769)
  ("(speed(agent2) 2)" 1769 1777)
  ("(speed(agent2) 3)" 1777 1788)
  ("(speed(agent2) 4)" 1788 1804)
  ("(speed(agent2) 5)" 1804 1813)
  ("(speed(agent2) 4)" 1813 1820)
  ("(speed(agent2) 3)" 1820 1824)
  ("(speed(agent2) 2)" 1824 1831)
  ("(speed(agent2) 1)" 1831 1871)
  ("(speed(agent2) 2)" 1871 1875)
  ("(speed(agent2) 3)" 1875 1883)
  ("(speed(agent2) 4)" 1883 1903)
  ("(speed(agent2) 5)" 1903 1912)
  ("(speed(agent2) 4)" 1912 1919)
  ("(speed(agent2) 3)" 1919 1927)
  ("(speed(agent2) 2)" 1927 1937)
  ("(speed(agent2) 1)" 1937 1972)
  ("(speed(agent2) 2)" 1972 1984)
  ("(speed(agent2) 3)" 1984 1993)
  ("(speed(agent2) 4)" 1993 2006)
  ("(speed(agent2) 5)" 2006 2014)
  ("(speed(agent2) 4)" 2014 2022)
  ("(speed(agent2) 3)" 2022 2025)
  ("(speed(agent2) 2)" 2025 2029)
  ("(speed(agent2) 1)" 2029 2084)
  ("(speed(agent2) 2)" 2084 2093)
  ("(speed(agent2) 3)" 2093 2102)
  ("(speed(agent2) 4)" 2102 2114)
  ("(speed(agent2) 5)" 2114 2123)
  ("(speed(agent2) 4)" 2123 2130)
  ("(speed(agent2) 3)" 2130 2133)
  ("(speed(agent2) 2)" 2133 2137)
  ("(speed(agent2) 1)" 2137 2186)
  ("(speed(agent2) 2)" 2186 2189)
  ("(speed(agent2) 3)" 2189 2200)
  ("(speed(agent2) 4)" 2200 2218)
  ("(speed(agent2) 5)" 2218 2226)
  ("(speed(agent2) 4)" 2226 2234)
  ("(speed(agent2) 3)" 2234 2237)
  ("(speed(agent2) 2)" 2237 2249)
  ("(speed(agent2) 1)" 2249 2290)
  ("(speed(agent2) 2)" 2290 2300)
  ("(speed(agent2) 3)" 2300 2309)
  ("(speed(agent2) 4)" 2309 2322)
  ("(speed(agent2) 5)" 2322 2331)
  ("(speed(agent2) 4)" 2331 2340)
  ("(speed(agent2) 3)" 2340 2345)
  ("(speed(agent2) 2)" 2345 2368)
  ("(speed(agent2) 3)" 2368 2372)
  ("(speed(agent2) up)" 635 640)
  ("(speed(agent2) down)" 640 683)
  ("(speed(agent2) stable)" 683 684)
  ("(speed(agent2) up)" 684 686)
  ("(speed(agent2) down)" 686 691)
  ("(speed(agent2) up)" 691 725)
  ("(speed(agent2) down)" 725 772)
  ("(speed(agent2) stable)" 772 773)
  ("(speed(agent2) up)" 773 821)
  ("(speed(agent2) stable)" 821 822)
  ("(speed(agent2) down)" 822 872)
  ("(speed(agent2) up)" 872 923)
  ("(speed(agent2) stable)" 923 924)
  ("(speed(agent2) down)" 924 975)
  ("(speed(agent2) up)" 975 1030)
  ("(speed(agent2) down)" 1030 1083)
  ("(speed(agent2) up)" 1083 1134)
  ("(speed(agent2) down)" 1134 1185)
  ("(speed(agent2) stable)" 1185 1186)
  ("(speed(agent2) up)" 1186 1237)
  ("(speed(agent2) stable)" 1237 1238)
  ("(speed(agent2) down)" 1238 1289)
  ("(speed(agent2) up)" 1289 1344)
  ("(speed(agent2) down)" 1344 1397)
  ("(speed(agent2) up)" 1397 1448)
  ("(speed(agent2) stable)" 1448 1449)
  ("(speed(agent2) down)" 1449 1496)
  ("(speed(agent2) up)" 1496 1546)
  ("(speed(agent2) down)" 1546 1596)
  ("(speed(agent2) stable)" 1596 1597)
  ("(speed(agent2) up)" 1597 1651)
  ("(speed(agent2) down)" 1651 1703)
  ("(speed(agent2) up)" 1703 1757)
  ("(speed(agent2) down)" 1757 1809)
  ("(speed(agent2) up)" 1809 1858)
  ("(speed(agent2) down)" 1858 1908)
  ("(speed(agent2) up)" 1908 1960)
  ("(speed(agent2) down)" 1960 2011)
  ("(speed(agent2) up)" 2011 2066)
  ("(speed(agent2) down)" 2066 2119)
  ("(speed(agent2) up)" 2119 2171)
  ("(speed(agent2) down)" 2171 2223)
  ("(speed(agent2) up)" 2223 2275)
  ("(speed(agent2) down)" 2275 2327)
  ("(speed(agent2) up)" 2327 2356)
  ("(speed(agent2) down)" 2356 2372)
  ("(heading(agent2) 1)" 659 695)
  ("(heading(agent2) 2)" 695 710)
  ("(heading(agent2) 3)" 710 743)
  ("(heading(agent2) 4)" 743 805)
  ("(heading(agent2) 3)" 805 838)
  ("(heading(agent2) 2)" 838 852)
  ("(heading(agent2) 3)" 852 889)
  ("(heading(agent2) 2)" 889 913)
  ("(heading(agent2) 3)" 913 956)
  ("(heading(agent2) 2)" 956 981)
  ("(heading(agent2) 3)" 981 997)
  ("(heading(agent2) 4)" 997 1090)
  ("(heading(agent2) 3)" 1090 1098)
  ("(heading(agent2) 2)" 1098 1106)
  ("(heading(agent2) 1)" 1106 1202)
  ("(heading(agent2) 2)" 1202 1209)
  ("(heading(agent2) 3)" 1209 1217)
  ("(heading(agent2) 4)" 1217 1253)
  ("(heading(agent2) 3)" 1253 1261)
  ("(heading(agent2) 4)" 1261 1296)
  ("(heading(agent2) 3)" 1296 1309)
  ("(heading(agent2) 2)" 1309 1325)
  ("(heading(agent2) 1)" 1325 1342)
  ("(heading(agent2) 2)" 1342 1373)
  ("(heading(agent2) 1)" 1373 1398)
  ("(heading(agent2) 2)" 1398 1416)
  ("(heading(agent2) 3)" 1416 1496)
  ("(heading(agent2) 2)" 1496 1505)
  ("(heading(agent2) 1)" 1505 1620)
  ("(heading(agent2) 2)" 1620 1628)
  ("(heading(agent2) 3)" 1628 1664)
  ("(heading(agent2) 4)" 1664 1736)
  ("(heading(agent2) 5)" 1736 2040)
  ("(heading(agent2) 4)" 2040 2142)
  ("(heading(agent2) 5)" 2142 2235)
  ("(heading(agent2) 4)" 2235 2247)
  ("(heading(agent2) 3)" 2247 2313)
  ("(heading(agent2) 2)" 2313 2347)
  ("(heading(agent2) stable)" 660 686)
  ("(heading(agent2) down)" 686 714)
  ("(heading(agent2) stable)" 714 742)
  ("(heading(agent2) down)" 742 744)
  ("(heading(agent2) stable)" 744 803)
  ("(heading(agent2) up)" 803 806)
  ("(heading(agent2) stable)" 806 859)
  ("(heading(agent2) down)" 859 861)
  ("(heading(agent2) stable)" 861 885)
  ("(heading(agent2) up)" 885 897)
  ("(heading(agent2) stable)" 897 905)
  ("(heading(agent2) down)" 905 911)
  ("(heading(agent2) stable)" 911 984)
  ("(heading(agent2) down)" 984 1003)
  ("(heading(agent2) stable)" 1003 1083)
  ("(heading(agent2) up)" 1083 1114)
  ("(heading(agent2) stable)" 1114 1185)
  ("(heading(agent2) down)" 1185 1220)
  ("(heading(agent2) stable)" 1220 1293)
  ("(heading(agent2) up)" 1293 1322)
  ("(heading(agent2) stable)" 1322 1402)
  ("(heading(agent2) down)" 1402 1421)
  ("(heading(agent2) stable)" 1421 1476)
  ("(heading(agent2) down)" 1476 1479)
  ("(heading(agent2) stable)" 1479 1490)
  ("(heading(agent2) up)" 1490 1526)
  ("(heading(agent2) stable)" 1526 1557)
  ("(heading(agent2) up)" 1557 1559)
  ("(heading(agent2) stable)" 1559 1590)
  ("(heading(agent2) down)" 1590 1630)
  ("(heading(agent2) stable)" 1630 2226)
  ("(heading(agent2) up)" 2226 2251)
  ("(heading(agent2) stable)" 2251 2347)
  ("heard(agent1 agent2)" 2342 2397)
  ("heard(agent1 agent2)" 2230 2300)
  ("heard(agent1 agent2)" 2135 2202)
  ("heard(agent1 agent2)" 2026 2092)
  ("heard(agent1 agent2)" 1912 1984)
  ("heard(agent1 agent2)" 1819 1891)
  ("heard(agent1 agent2)" 1719 1786)
  ("heard(agent1 agent2)" 1609 1676)
  ("heard(agent1 agent2)" 1498 1572)
  ("heard(agent1 agent2)" 1399 1479)
  ("heard(agent1 agent2)" 1291 1379)
  ("heard(agent1 agent2)" 1087 1273)
  ("heard(agent1 agent2)" 978 1065)
  ("heard(agent1 agent2)" 426 958)
  ("novel(agent1 agent2)" 2343 2397)
  ("novel(agent1 agent2)" 2231 2311)
  ("novel(agent1 agent2)" 2136 2216)
  ("novel(agent1 agent2)" 2027 2107)
  ("novel(agent1 agent2)" 1913 1993)
  ("novel(agent1 agent2)" 1820 1898)
  ("novel(agent1 agent2)" 1720 1800)
  ("novel(agent1 agent2)" 1610 1690)
  ("novel(agent1 agent2)" 1499 1579)
  ("novel(agent1 agent2)" 1400 1479)
  ("novel(agent1 agent2)" 1292 1372)
  ("novel(agent1 agent2)" 1088 1167)
  ("novel(agent1 agent2)" 979 1059)
  ("novel(agent1 agent2)" 610 691)
  ("novel(agent1 agent2)" 427 507)
  ("collision(agent1 agent2)" 2370 2373)
  ("collision(agent1 agent2)" 2262 2264)
  ("collision(agent1 agent2)" 2163 2166)
  ("collision(agent1 agent2)" 2054 2057)
  ("collision(agent1 agent2)" 1946 1948)
  ("collision(agent1 agent2)" 1850 1853)
  ("collision(agent1 agent2)" 1747 1748)
  ("collision(agent1 agent2)" 1638 1640)
  ("collision(agent1 agent2)" 1533 1536)
  ("collision(agent1 agent2)" 1436 1439)
  ("collision(agent1 agent2)" 1332 1335)
  ("collision(agent1 agent2)" 1224 1227)
  ("collision(agent1 agent2)" 1127 1130)
  ("collision(agent1 agent2)" 1018 1020)
  ("collision(agent1 agent2)" 910 912)
  ("collision(agent1 agent2)" 812 815)
  ("collision(agent1 agent2)" 710 713)
  ("collision(agent1 agent2)" 623 626)
  ("collision(agent1 agent2)" 554 555)
  ("collision(agent1 agent2)" 510 511)
  ("(distance(agent1 agent2) 1)" 451 456)
  ("(distance(agent1 agent2) 2)" 456 471)
  ("(distance(agent1 agent2) 3)" 471 481)
  ("(distance(agent1 agent2) 4)" 481 492)
  ("(distance(agent1 agent2) 5)" 492 651)
  ("(distance(agent1 agent2) 4)" 651 693)
  ("(distance(agent1 agent2) 5)" 693 730)
  ("(distance(agent1 agent2) 4)" 730 740)
  ("(distance(agent1 agent2) 3)" 740 749)
  ("(distance(agent1 agent2) 2)" 749 783)
  ("(distance(agent1 agent2) 3)" 783 791)
  ("(distance(agent1 agent2) 4)" 791 802)
  ("(distance(agent1 agent2) 5)" 802 832)
  ("(distance(agent1 agent2) 4)" 832 842)
  ("(distance(agent1 agent2) 3)" 842 851)
  ("(distance(agent1 agent2) 2)" 851 880)
  ("(distance(agent1 agent2) 3)" 880 889)
  ("(distance(agent1 agent2) 4)" 889 900)
  ("(distance(agent1 agent2) 5)" 900 929)
  ("(distance(agent1 agent2) 4)" 929 938)
  ("(distance(agent1 agent2) 3)" 938 945)
  ("(distance(agent1 agent2) 2)" 945 955)
  ("(distance(agent1 agent2) 1)" 955 983)
  ("(distance(agent1 agent2) 2)" 983 993)
  ("(distance(agent1 agent2) 3)" 993 1000)
  ("(distance(agent1 agent2) 4)" 1000 1010)
  ("(distance(agent1 agent2) 5)" 1010 1036)
  ("(distance(agent1 agent2) 4)" 1036 1045)
  ("(distance(agent1 agent2) 3)" 1045 1052)
  ("(distance(agent1 agent2) 2)" 1052 1062)
  ("(distance(agent1 agent2) 1)" 1062 1092)
  ("(distance(agent1 agent2) 2)" 1092 1102)
  ("(distance(agent1 agent2) 3)" 1102 1109)
  ("(distance(agent1 agent2) 4)" 1109 1119)
  ("(distance(agent1 agent2) 5)" 1119 1146)
  ("(distance(agent1 agent2) 4)" 1146 1157)
  ("(distance(agent1 agent2) 3)" 1157 1167)
  ("(distance(agent1 agent2) 2)" 1167 1193)
  ("(distance(agent1 agent2) 3)" 1193 1202)
  ("(distance(agent1 agent2) 4)" 1202 1213)
  ("(distance(agent1 agent2) 5)" 1213 1243)
  ("(distance(agent1 agent2) 4)" 1243 1252)
  ("(distance(agent1 agent2) 3)" 1252 1259)
  ("(distance(agent1 agent2) 2)" 1259 1270)
  ("(distance(agent1 agent2) 1)" 1270 1297)
  ("(distance(agent1 agent2) 2)" 1297 1307)
  ("(distance(agent1 agent2) 3)" 1307 1314)
  ("(distance(agent1 agent2) 4)" 1314 1324)
  ("(distance(agent1 agent2) 5)" 1324 1350)
  ("(distance(agent1 agent2) 4)" 1350 1359)
  ("(distance(agent1 agent2) 3)" 1359 1367)
  ("(distance(agent1 agent2) 2)" 1367 1377)
  ("(distance(agent1 agent2) 1)" 1377 1403)
  ("(distance(agent1 agent2) 2)" 1403 1412)
  ("(distance(agent1 agent2) 3)" 1412 1419)
  ("(distance(agent1 agent2) 4)" 1419 1430)
  ("(distance(agent1 agent2) 5)" 1430 1451)
  ("(distance(agent1 agent2) 4)" 1451 1461)
  ("(distance(agent1 agent2) 3)" 1461 1468)
  ("(distance(agent1 agent2) 2)" 1468 1478)
  ("(distance(agent1 agent2) 1)" 1478 1501)
  ("(distance(agent1 agent2) 2)" 1501 1510)
  ("(distance(agent1 agent2) 3)" 1510 1517)
  ("(distance(agent1 agent2) 4)" 1517 1529)
  ("(distance(agent1 agent2) 5)" 1529 1546)
  ("(distance(agent1 agent2) 4)" 1546 1556)
  ("(distance(agent1 agent2) 3)" 1556 1562)
  ("(distance(agent1 agent2) 2)" 1562 1569)
  ("(distance(agent1 agent2) 1)" 1569 1612)
  ("(distance(agent1 agent2) 2)" 1612 1619)
  ("(distance(agent1 agent2) 3)" 1619 1626)
  ("(distance(agent1 agent2) 4)" 1626 1639)
  ("(distance(agent1 agent2) 5)" 1639 1648)
  ("(distance(agent1 agent2) 4)" 1648 1660)
  ("(distance(agent1 agent2) 3)" 1660 1666)
  ("(distance(agent1 agent2) 2)" 1666 1673)
  ("(distance(agent1 agent2) 1)" 1673 1721)
  ("(distance(agent1 agent2) 2)" 1721 1728)
  ("(distance(agent1 agent2) 3)" 1728 1735)
  ("(distance(agent1 agent2) 4)" 1735 1746)
  ("(distance(agent1 agent2) 5)" 1746 1759)
  ("(distance(agent1 agent2) 4)" 1759 1770)
  ("(distance(agent1 agent2) 3)" 1770 1776)
  ("(distance(agent1 agent2) 2)" 1776 1784)
  ("(distance(agent1 agent2) 1)" 1784 1822)
  ("(distance(agent1 agent2) 2)" 1822 1829)
  ("(distance(agent1 agent2) 3)" 1829 1836)
  ("(distance(agent1 agent2) 4)" 1836 1848)
  ("(distance(agent1 agent2) 5)" 1848 1863)
  ("(distance(agent1 agent2) 4)" 1863 1874)
  ("(distance(agent1 agent2) 3)" 1874 1881)
  ("(distance(agent1 agent2) 2)" 1881 1890)
  ("(distance(agent1 agent2) 1)" 1890 1915)
  ("(distance(agent1 agent2) 2)" 1915 1924)
  ("(distance(agent1 agent2) 3)" 1924 1931)
  ("(distance(agent1 agent2) 4)" 1931 1944)
  ("(distance(agent1 agent2) 5)" 1944 1958)
  ("(distance(agent1 agent2) 4)" 1958 1968)
  ("(distance(agent1 agent2) 3)" 1968 1974)
  ("(distance(agent1 agent2) 2)" 1974 1981)
  ("(distance(agent1 agent2) 1)" 1981 2029)
  ("(distance(agent1 agent2) 2)" 2029 2035)
  ("(distance(agent1 agent2) 3)" 2035 2042)
  ("(distance(agent1 agent2) 4)" 2042 2054)
  ("(distance(agent1 agent2) 5)" 2054 2065)
  ("(distance(agent1 agent2) 4)" 2065 2076)
  ("(distance(agent1 agent2) 3)" 2076 2082)
  ("(distance(agent1 agent2) 2)" 2082 2088)
  ("(distance(agent1 agent2) 1)" 2088 2138)
  ("(distance(agent1 agent2) 2)" 2138 2144)
  ("(distance(agent1 agent2) 3)" 2144 2151)
  ("(distance(agent1 agent2) 4)" 2151 2163)
  ("(distance(agent1 agent2) 5)" 2163 2174)
  ("(distance(agent1 agent2) 4)" 2174 2186)
  ("(distance(agent1 agent2) 3)" 2186 2193)
  ("(distance(agent1 agent2) 2)" 2193 2201)
  ("(distance(agent1 agent2) 1)" 2201 2233)
  ("(distance(agent1 agent2) 2)" 2233 2241)
  ("(distance(agent1 agent2) 3)" 2241 2248)
  ("(distance(agent1 agent2) 4)" 2248 2260)
  ("(distance(agent1 agent2) 5)" 2260 2274)
  ("(distance(agent1 agent2) 4)" 2274 2284)
  ("(distance(agent1 agent2) 3)" 2284 2290)
  ("(distance(agent1 agent2) 2)" 2290 2297)
  ("(distance(agent1 agent2) 1)" 2297 2345)
  ("(distance(agent1 agent2) 2)" 2345 2351)
  ("(distance(agent1 agent2) 3)" 2351 2357)
  ("(distance(agent1 agent2) 4)" 2357 2365)
  ("(distance(agent1 agent2) 5)" 2365 2372)
  ("(distance(agent1 agent2) down)" 452 534)
  ("(distance(agent1 agent2) stable)" 534 535)
  ("(distance(agent1 agent2) up)" 535 594)
  ("(distance(agent1 agent2) stable)" 594 595)
  ("(distance(agent1 agent2) down)" 595 623)
  ("(distance(agent1 agent2) stable)" 623 624)
  ("(distance(agent1 agent2) up)" 624 673)
  ("(distance(agent1 agent2) stable)" 673 674)
  ("(distance(agent1 agent2) down)" 674 713)
  ("(distance(agent1 agent2) stable)" 713 714)
  ("(distance(agent1 agent2) up)" 714 767)
  ("(distance(agent1 agent2) down)" 767 817)
  ("(distance(agent1 agent2) stable)" 817 818)
  ("(distance(agent1 agent2) up)" 818 866)
  ("(distance(agent1 agent2) stable)" 866 867)
  ("(distance(agent1 agent2) down)" 867 915)
  ("(distance(agent1 agent2) stable)" 915 916)
  ("(distance(agent1 agent2) up)" 916 970)
  ("(distance(agent1 agent2) down)" 970 1024)
  ("(distance(agent1 agent2) up)" 1024 1078)
  ("(distance(agent1 agent2) down)" 1078 1133)
  ("(distance(agent1 agent2) up)" 1133 1180)
  ("(distance(agent1 agent2) stable)" 1180 1181)
  ("(distance(agent1 agent2) down)" 1181 1229)
  ("(distance(agent1 agent2) up)" 1229 1284)
  ("(distance(agent1 agent2) down)" 1284 1338)
  ("(distance(agent1 agent2) up)" 1338 1390)
  ("(distance(agent1 agent2) stable)" 1390 1391)
  ("(distance(agent1 agent2) down)" 1391 1441)
  ("(distance(agent1 agent2) up)" 1441 1490)
  ("(distance(agent1 agent2) stable)" 1490 1491)
  ("(distance(agent1 agent2) down)" 1491 1538)
  ("(distance(agent1 agent2) up)" 1538 1591)
  ("(distance(agent1 agent2) stable)" 1591 1592)
  ("(distance(agent1 agent2) down)" 1592 1644)
  ("(distance(agent1 agent2) up)" 1644 1698)
  ("(distance(agent1 agent2) down)" 1698 1753)
  ("(distance(agent1 agent2) up)" 1753 1804)
  ("(distance(agent1 agent2) down)" 1804 1855)
  ("(distance(agent1 agent2) stable)" 1855 1856)
  ("(distance(agent1 agent2) up)" 1856 1903)
  ("(distance(agent1 agent2) stable)" 1903 1904)
  ("(distance(agent1 agent2) down)" 1904 1951)
  ("(distance(agent1 agent2) stable)" 1951 1952)
  ("(distance(agent1 agent2) up)" 1952 2006)
  ("(distance(agent1 agent2) down)" 2006 2060)
  ("(distance(agent1 agent2) up)" 2060 2114)
  ("(distance(agent1 agent2) down)" 2114 2169)
  ("(distance(agent1 agent2) up)" 2169 2218)
  ("(distance(agent1 agent2) down)" 2218 2267)
  ("(distance(agent1 agent2) stable)" 2267 2268)
  ("(distance(agent1 agent2) up)" 2268 2322)
  ("(distance(agent1 agent2) down)" 2322 2372)
  ("(relativeX(agent1 agent2) 2)" 634 942)
  ("(relativeX(agent1 agent2) 3)" 942 1037)
  ("(relativeX(agent1 agent2) 4)" 1037 1062)
  ("(relativeX(agent1 agent2) 5)" 1062 1075)
  ("(relativeX(agent1 agent2) 4)" 1075 1099)
  ("(relativeX(agent1 agent2) 3)" 1099 1113)
  ("(relativeX(agent1 agent2) 2)" 1113 1129)
  ("(relativeX(agent1 agent2) 1)" 1129 1201)
  ("(relativeX(agent1 agent2) 2)" 1201 1235)
  ("(relativeX(agent1 agent2) 3)" 1235 1299)
  ("(relativeX(agent1 agent2) 2)" 1299 1330)
  ("(relativeX(agent1 agent2) 1)" 1330 1397)
  ("(relativeX(agent1 agent2) 2)" 1397 1524)
  ("(relativeX(agent1 agent2) 1)" 1524 1583)
  ("(relativeX(agent1 agent2) 2)" 1583 1757)
  ("(relativeX(agent1 agent2) 3)" 1757 1773)
  ("(relativeX(agent1 agent2) 4)" 1773 1800)
  ("(relativeX(agent1 agent2) 5)" 1800 1804)
  ("(relativeX(agent1 agent2) 4)" 1804 1831)
  ("(relativeX(agent1 agent2) 3)" 1831 1865)
  ("(relativeX(agent1 agent2) 4)" 1865 1878)
  ("(relativeX(agent1 agent2) 5)" 1878 2038)
  ("(relativeX(agent1 agent2) 4)" 2038 2046)
  ("(relativeX(agent1 agent2) 3)" 2046 2054)
  ("(relativeX(agent1 agent2) 2)" 2054 2092)
  ("(relativeX(agent1 agent2) 3)" 2092 2105)
  ("(relativeX(agent1 agent2) 4)" 2105 2170)
  ("(relativeX(agent1 agent2) 5)" 2170 2255)
  ("(relativeX(agent1 agent2) 4)" 2255 2271)
  ("(relativeX(agent1 agent2) 3)" 2271 2277)
  ("(relativeX(agent1 agent2) 4)" 2277 2294)
  ("(relativeX(agent1 agent2) 5)" 2294 2354)
  ("(relativeX(agent1 agent2) 4)" 2354 2372)
  ("(relativeX(agent1 agent2) stable)" 635 791)
  ("(relativeX(agent1 agent2) down)" 791 805)
  ("(relativeX(agent1 agent2) stable)" 805 843)
  ("(relativeX(agent1 agent2) up)" 843 855)
  ("(relativeX(agent1 agent2) stable)" 855 898)
  ("(relativeX(agent1 agent2) down)" 898 974)
  ("(relativeX(agent1 agent2) stable)" 974 976)
  ("(relativeX(agent1 agent2) up)" 976 1012)
  ("(relativeX(agent1 agent2) stable)" 1012 1014)
  ("(relativeX(agent1 agent2) down)" 1014 1069)
  ("(relativeX(agent1 agent2) stable)" 1069 1070)
  ("(relativeX(agent1 agent2) up)" 1070 1158)
  ("(relativeX(agent1 agent2) stable)" 1158 1160)
  ("(relativeX(agent1 agent2) down)" 1160 1266)
  ("(relativeX(agent1 agent2) stable)" 1266 1268)
  ("(relativeX(agent1 agent2) up)" 1268 1359)
  ("(relativeX(agent1 agent2) stable)" 1359 1362)
  ("(relativeX(agent1 agent2) down)" 1362 1466)
  ("(relativeX(agent1 agent2) stable)" 1466 1473)
  ("(relativeX(agent1 agent2) up)" 1473 1546)
  ("(relativeX(agent1 agent2) stable)" 1546 1560)
  ("(relativeX(agent1 agent2) down)" 1560 1595)
  ("(relativeX(agent1 agent2) stable)" 1595 1625)
  ("(relativeX(agent1 agent2) down)" 1625 1700)
  ("(relativeX(agent1 agent2) stable)" 1700 1704)
  ("(relativeX(agent1 agent2) up)" 1704 1735)
  ("(relativeX(agent1 agent2) stable)" 1735 1737)
  ("(relativeX(agent1 agent2) down)" 1737 1802)
  ("(relativeX(agent1 agent2) stable)" 1802 1803)
  ("(relativeX(agent1 agent2) up)" 1803 1849)
  ("(relativeX(agent1 agent2) stable)" 1849 1850)
  ("(relativeX(agent1 agent2) down)" 1850 1907)
  ("(relativeX(agent1 agent2) up)" 1907 1946)
  ("(relativeX(agent1 agent2) stable)" 1946 1947)
  ("(relativeX(agent1 agent2) down)" 1947 2000)
  ("(relativeX(agent1 agent2) up)" 2000 2072)
  ("(relativeX(agent1 agent2) down)" 2072 2127)
  ("(relativeX(agent1 agent2) stable)" 2127 2128)
  ("(relativeX(agent1 agent2) up)" 2128 2151)
  ("(relativeX(agent1 agent2) stable)" 2151 2152)
  ("(relativeX(agent1 agent2) down)" 2152 2215)
  ("(relativeX(agent1 agent2) up)" 2215 2274)
  ("(relativeX(agent1 agent2) stable)" 2274 2275)
  ("(relativeX(agent1 agent2) down)" 2275 2324)
  ("(relativeX(agent1 agent2) stable)" 2324 2325)
  ("(relativeX(agent1 agent2) up)" 2325 2372)
  ("(relativeY(agent1 agent2) 1)" 634 656)
  ("(relativeY(agent1 agent2) 2)" 656 688)
  ("(relativeY(agent1 agent2) 1)" 688 734)
  ("(relativeY(agent1 agent2) 2)" 734 742)
  ("(relativeY(agent1 agent2) 3)" 742 751)
  ("(relativeY(agent1 agent2) 4)" 751 781)
  ("(relativeY(agent1 agent2) 3)" 781 789)
  ("(relativeY(agent1 agent2) 2)" 789 798)
  ("(relativeY(agent1 agent2) 1)" 798 835)
  ("(relativeY(agent1 agent2) 2)" 835 844)
  ("(relativeY(agent1 agent2) 3)" 844 854)
  ("(relativeY(agent1 agent2) 4)" 854 878)
  ("(relativeY(agent1 agent2) 3)" 878 887)
  ("(relativeY(agent1 agent2) 2)" 887 896)
  ("(relativeY(agent1 agent2) 1)" 896 932)
  ("(relativeY(agent1 agent2) 2)" 932 940)
  ("(relativeY(agent1 agent2) 3)" 940 947)
  ("(relativeY(agent1 agent2) 4)" 947 957)
  ("(relativeY(agent1 agent2) 5)" 957 982)
  ("(relativeY(agent1 agent2) 4)" 982 991)
  ("(relativeY(agent1 agent2) 3)" 991 998)
  ("(relativeY(agent1 agent2) 2)" 998 1007)
  ("(relativeY(agent1 agent2) 1)" 1007 1039)
  ("(relativeY(agent1 agent2) 2)" 1039 1047)
  ("(relativeY(agent1 agent2) 3)" 1047 1054)
  ("(relativeY(agent1 agent2) 4)" 1054 1064)
  ("(relativeY(agent1 agent2) 5)" 1064 1091)
  ("(relativeY(agent1 agent2) 4)" 1091 1100)
  ("(relativeY(agent1 agent2) 3)" 1100 1107)
  ("(relativeY(agent1 agent2) 2)" 1107 1115)
  ("(relativeY(agent1 agent2) 1)" 1115 1150)
  ("(relativeY(agent1 agent2) 2)" 1150 1159)
  ("(relativeY(agent1 agent2) 3)" 1159 1170)
  ("(relativeY(agent1 agent2) 4)" 1170 1190)
  ("(relativeY(agent1 agent2) 3)" 1190 1200)
  ("(relativeY(agent1 agent2) 2)" 1200 1209)
  ("(relativeY(agent1 agent2) 1)" 1209 1246)
  ("(relativeY(agent1 agent2) 2)" 1246 1254)
  ("(relativeY(agent1 agent2) 3)" 1254 1261)
  ("(relativeY(agent1 agent2) 4)" 1261 1271)
  ("(relativeY(agent1 agent2) 5)" 1271 1295)
  ("(relativeY(agent1 agent2) 4)" 1295 1305)
  ("(relativeY(agent1 agent2) 3)" 1305 1312)
  ("(relativeY(agent1 agent2) 2)" 1312 1320)
  ("(relativeY(agent1 agent2) 1)" 1320 1354)
  ("(relativeY(agent1 agent2) 2)" 1354 1361)
  ("(relativeY(agent1 agent2) 3)" 1361 1368)
  ("(relativeY(agent1 agent2) 4)" 1368 1379)
  ("(relativeY(agent1 agent2) 5)" 1379 1401)
  ("(relativeY(agent1 agent2) 4)" 1401 1411)
  ("(relativeY(agent1 agent2) 3)" 1411 1417)
  ("(relativeY(agent1 agent2) 2)" 1417 1426)
  ("(relativeY(agent1 agent2) 1)" 1426 1455)
  ("(relativeY(agent1 agent2) 2)" 1455 1463)
  ("(relativeY(agent1 agent2) 3)" 1463 1470)
  ("(relativeY(agent1 agent2) 4)" 1470 1480)
  ("(relativeY(agent1 agent2) 5)" 1480 1499)
  ("(relativeY(agent1 agent2) 4)" 1499 1509)
  ("(relativeY(agent1 agent2) 3)" 1509 1515)
  ("(relativeY(agent1 agent2) 2)" 1515 1524)
  ("(relativeY(agent1 agent2) 1)" 1524 1550)
  ("(relativeY(agent1 agent2) 2)" 1550 1558)
  ("(relativeY(agent1 agent2) 3)" 1558 1563)
  ("(relativeY(agent1 agent2) 4)" 1563 1570)
  ("(relativeY(agent1 agent2) 5)" 1570 1611)
  ("(relativeY(agent1 agent2) 4)" 1611 1618)
  ("(relativeY(agent1 agent2) 3)" 1618 1624)
  ("(relativeY(agent1 agent2) 2)" 1624 1633)
  ("(relativeY(agent1 agent2) 1)" 1633 1653)
  ("(relativeY(agent1 agent2) 2)" 1653 1662)
  ("(relativeY(agent1 agent2) 3)" 1662 1667)
  ("(relativeY(agent1 agent2) 4)" 1667 1673)
  ("(relativeY(agent1 agent2) 5)" 1673 1721)
  ("(relativeY(agent1 agent2) 4)" 1721 1727)
  ("(relativeY(agent1 agent2) 3)" 1727 1733)
  ("(relativeY(agent1 agent2) 2)" 1733 1741)
  ("(relativeY(agent1 agent2) 1)" 1741 1763)
  ("(relativeY(agent1 agent2) 2)" 1763 1772)
  ("(relativeY(agent1 agent2) 3)" 1772 1778)
  ("(relativeY(agent1 agent2) 4)" 1778 1785)
  ("(relativeY(agent1 agent2) 5)" 1785 1821)
  ("(relativeY(agent1 agent2) 4)" 1821 1828)
  ("(relativeY(agent1 agent2) 3)" 1828 1834)
  ("(relativeY(agent1 agent2) 2)" 1834 1843)
  ("(relativeY(agent1 agent2) 1)" 1843 1867)
  ("(relativeY(agent1 agent2) 2)" 1867 1876)
  ("(relativeY(agent1 agent2) 3)" 1876 1882)
  ("(relativeY(agent1 agent2) 4)" 1882 1892)
  ("(relativeY(agent1 agent2) 5)" 1892 1914)
  ("(relativeY(agent1 agent2) 4)" 1914 1923)
  ("(relativeY(agent1 agent2) 3)" 1923 1929)
  ("(relativeY(agent1 agent2) 2)" 1929 1939)
  ("(relativeY(agent1 agent2) 1)" 1939 1962)
  ("(relativeY(agent1 agent2) 2)" 1962 1970)
  ("(relativeY(agent1 agent2) 3)" 1970 1975)
  ("(relativeY(agent1 agent2) 4)" 1975 1982)
  ("(relativeY(agent1 agent2) 5)" 1982 2028)
  ("(relativeY(agent1 agent2) 4)" 2028 2034)
  ("(relativeY(agent1 agent2) 3)" 2034 2040)
  ("(relativeY(agent1 agent2) 2)" 2040 2049)
  ("(relativeY(agent1 agent2) 1)" 2049 2070)
  ("(relativeY(agent1 agent2) 2)" 2070 2078)
  ("(relativeY(agent1 agent2) 3)" 2078 2083)
  ("(relativeY(agent1 agent2) 4)" 2083 2089)
  ("(relativeY(agent1 agent2) 5)" 2089 2137)
  ("(relativeY(agent1 agent2) 4)" 2137 2143)
  ("(relativeY(agent1 agent2) 3)" 2143 2149)
  ("(relativeY(agent1 agent2) 2)" 2149 2158)
  ("(relativeY(agent1 agent2) 1)" 2158 2179)
  ("(relativeY(agent1 agent2) 2)" 2179 2188)
  ("(relativeY(agent1 agent2) 3)" 2188 2194)
  ("(relativeY(agent1 agent2) 4)" 2194 2202)
  ("(relativeY(agent1 agent2) 5)" 2202 2232)
  ("(relativeY(agent1 agent2) 4)" 2232 2240)
  ("(relativeY(agent1 agent2) 3)" 2240 2246)
  ("(relativeY(agent1 agent2) 2)" 2246 2255)
  ("(relativeY(agent1 agent2) 1)" 2255 2278)
  ("(relativeY(agent1 agent2) 2)" 2278 2286)
  ("(relativeY(agent1 agent2) 3)" 2286 2291)
  ("(relativeY(agent1 agent2) 4)" 2291 2298)
  ("(relativeY(agent1 agent2) 5)" 2298 2344)
  ("(relativeY(agent1 agent2) 4)" 2344 2350)
  ("(relativeY(agent1 agent2) 3)" 2350 2355)
  ("(relativeY(agent1 agent2) 2)" 2355 2363)
  ("(relativeY(agent1 agent2) 1)" 2363 2372)
  ("(relativeY(agent1 agent2) down)" 635 673)
  ("(relativeY(agent1 agent2) stable)" 673 674)
  ("(relativeY(agent1 agent2) up)" 674 713)
  ("(relativeY(agent1 agent2) stable)" 713 714)
  ("(relativeY(agent1 agent2) down)" 714 767)
  ("(relativeY(agent1 agent2) up)" 767 817)
  ("(relativeY(agent1 agent2) stable)" 817 818)
  ("(relativeY(agent1 agent2) down)" 818 866)
  ("(relativeY(agent1 agent2) stable)" 866 867)
  ("(relativeY(agent1 agent2) up)" 867 915)
  ("(relativeY(agent1 agent2) stable)" 915 916)
  ("(relativeY(agent1 agent2) down)" 916 970)
  ("(relativeY(agent1 agent2) up)" 970 1024)
  ("(relativeY(agent1 agent2) down)" 1024 1078)
  ("(relativeY(agent1 agent2) up)" 1078 1133)
  ("(relativeY(agent1 agent2) down)" 1133 1180)
  ("(relativeY(agent1 agent2) stable)" 1180 1181)
  ("(relativeY(agent1 agent2) up)" 1181 1229)
  ("(relativeY(agent1 agent2) down)" 1229 1284)
  ("(relativeY(agent1 agent2) up)" 1284 1338)
  ("(relativeY(agent1 agent2) down)" 1338 1391)
  ("(relativeY(agent1 agent2) up)" 1391 1441)
  ("(relativeY(agent1 agent2) down)" 1441 1490)
  ("(relativeY(agent1 agent2) stable)" 1490 1491)
  ("(relativeY(agent1 agent2) up)" 1491 1538)
  ("(relativeY(agent1 agent2) down)" 1538 1591)
  ("(relativeY(agent1 agent2) stable)" 1591 1592)
  ("(relativeY(agent1 agent2) up)" 1592 1644)
  ("(relativeY(agent1 agent2) down)" 1644 1698)
  ("(relativeY(agent1 agent2) up)" 1698 1753)
  ("(relativeY(agent1 agent2) down)" 1753 1804)
  ("(relativeY(agent1 agent2) up)" 1804 1855)
  ("(relativeY(agent1 agent2) stable)" 1855 1856)
  ("(relativeY(agent1 agent2) down)" 1856 1903)
  ("(relativeY(agent1 agent2) stable)" 1903 1904)
  ("(relativeY(agent1 agent2) up)" 1904 1951)
  ("(relativeY(agent1 agent2) stable)" 1951 1952)
  ("(relativeY(agent1 agent2) down)" 1952 2006)
  ("(relativeY(agent1 agent2) up)" 2006 2060)
  ("(relativeY(agent1 agent2) down)" 2060 2114)
  ("(relativeY(agent1 agent2) up)" 2114 2169)
  ("(relativeY(agent1 agent2) down)" 2169 2218)
  ("(relativeY(agent1 agent2) up)" 2218 2267)
  ("(relativeY(agent1 agent2) stable)" 2267 2268)
  ("(relativeY(agent1 agent2) down)" 2268 2322)
  ("(relativeY(agent1 agent2) up)" 2322 2372)
  ("(x(wall1) 3)" 25 453)
  ("(x(wall1) 3)" 699 2372)
  ("(x(wall1) stable)" 26 453)
  ("(x(wall1) stable)" 700 2372)
  ("(y(wall1) 3)" 25 453)
  ("(y(wall1) 3)" 699 2372)
  ("(y(wall1) stable)" 26 453)
  ("(y(wall1) stable)" 700 2372)
  ("(speed(wall1) 3)" 25 453)
  ("(speed(wall1) 3)" 699 2372)
  ("(speed(wall1) stable)" 26 453)
  ("(speed(wall1) stable)" 700 2372)
  ("(heading(wall1) 3)" 50 428)
  ("(heading(wall1) 3)" 724 2347)
  ("(heading(wall1) stable)" 51 428)
  ("(heading(wall1) stable)" 725 2347)
  ("novel(agent1 wall1)" 675 755)
  ("collision(agent1 wall1)" 1986 1990)
  ("collision(agent1 wall1)" 1772 1788)
  ("collision(agent1 wall1)" 1572 1683)
  ("collision(agent1 wall1)" 1439 1479)
  ("collision(agent1 wall1)" 1423 1430)
  ("collision(agent1 wall1)" 1248 1270)
  ("collision(agent1 wall1)" 1054 1061)
  ("collision(agent1 wall1)" 931 952)
  ("collision(agent1 wall1)" 719 912)
  ("collision(agent1 wall1)" 628 712)
  ("collision(agent1 wall1)" 578 625)
  ("collision(agent1 wall1)" 567 568)
  ("collision(agent1 wall1)" 366 374)
  ("(distance(agent1 wall1) 1)" 25 216)
  ("(distance(agent1 wall1) 2)" 216 261)
  ("(distance(agent1 wall1) 3)" 261 334)
  ("(distance(agent1 wall1) 4)" 334 438)
  ("(distance(agent1 wall1) 3)" 438 453)
  ("(distance(agent1 wall1) 4)" 699 2372)
  ("(distance(agent1 wall1) down)" 26 365)
  ("(distance(agent1 wall1) stable)" 365 414)
  ("(distance(agent1 wall1) up)" 414 453)
  ("(distance(agent1 wall1) stable)" 700 2025)
  ("(distance(agent1 wall1) up)" 2025 2039)
  ("(distance(agent1 wall1) stable)" 2039 2372)
  ("(relativeX(agent1 wall1) 1)" 25 216)
  ("(relativeX(agent1 wall1) 2)" 216 261)
  ("(relativeX(agent1 wall1) 3)" 261 334)
  ("(relativeX(agent1 wall1) 4)" 334 438)
  ("(relativeX(agent1 wall1) 3)" 438 453)
  ("(relativeX(agent1 wall1) 4)" 699 2372)
  ("(relativeX(agent1 wall1) down)" 26 365)
  ("(relativeX(agent1 wall1) stable)" 365 414)
  ("(relativeX(agent1 wall1) up)" 414 453)
  ("(relativeX(agent1 wall1) stable)" 700 2025)
  ("(relativeX(agent1 wall1) up)" 2025 2040)
  ("(relativeX(agent1 wall1) stable)" 2040 2372)
  ("(relativeY(agent1 wall1) 5)" 25 331)
  ("(relativeY(agent1 wall1) 4)" 331 375)
  ("(relativeY(agent1 wall1) 3)" 375 412)
  ("(relativeY(agent1 wall1) 2)" 412 453)
  ("(relativeY(agent1 wall1) 2)" 699 2372)
  ("(relativeY(agent1 wall1) up)" 26 453)
  ("(relativeY(agent1 wall1) up)" 700 712)
  ("(relativeY(agent1 wall1) stable)" 712 720)
  ("(relativeY(agent1 wall1) down)" 720 762)
  ("(relativeY(agent1 wall1) stable)" 762 770)
  ("(relativeY(agent1 wall1) up)" 770 814)
  ("(relativeY(agent1 wall1) stable)" 814 822)
  ("(relativeY(agent1 wall1) down)" 822 863)
  ("(relativeY(agent1 wall1) stable)" 863 870)
  ("(relativeY(agent1 wall1) up)" 870 911)
  ("(relativeY(agent1 wall1) stable)" 911 919)
  ("(relativeY(agent1 wall1) down)" 919 966)
  ("(relativeY(agent1 wall1) stable)" 966 974)
  ("(relativeY(agent1 wall1) up)" 974 1021)
  ("(relativeY(agent1 wall1) stable)" 1021 1028)
  ("(relativeY(agent1 wall1) down)" 1028 1074)
  ("(relativeY(agent1 wall1) stable)" 1074 1082)
  ("(relativeY(agent1 wall1) up)" 1082 1130)
  ("(relativeY(agent1 wall1) stable)" 1130 1137)
  ("(relativeY(agent1 wall1) down)" 1137 1177)
  ("(relativeY(agent1 wall1) stable)" 1177 1184)
  ("(relativeY(agent1 wall1) up)" 1184 1225)
  ("(relativeY(agent1 wall1) stable)" 1225 1233)
  ("(relativeY(agent1 wall1) down)" 1233 1280)
  ("(relativeY(agent1 wall1) stable)" 1280 1288)
  ("(relativeY(agent1 wall1) up)" 1288 1335)
  ("(relativeY(agent1 wall1) stable)" 1335 1342)
  ("(relativeY(agent1 wall1) down)" 1342 1386)
  ("(relativeY(agent1 wall1) stable)" 1386 1393)
  ("(relativeY(agent1 wall1) up)" 1393 1441)
  ("(relativeY(agent1 wall1) stable)" 1441 1448)
  ("(relativeY(agent1 wall1) down)" 1448 1486)
  ("(relativeY(agent1 wall1) stable)" 1486 1492)
  ("(relativeY(agent1 wall1) up)" 1492 1536)
  ("(relativeY(agent1 wall1) stable)" 1536 1542)
  ("(relativeY(agent1 wall1) down)" 1542 1588)
  ("(relativeY(agent1 wall1) stable)" 1588 1594)
  ("(relativeY(agent1 wall1) up)" 1594 1641)
  ("(relativeY(agent1 wall1) stable)" 1641 1647)
  ("(relativeY(agent1 wall1) down)" 1647 1695)
  ("(relativeY(agent1 wall1) stable)" 1695 1701)
  ("(relativeY(agent1 wall1) up)" 1701 1750)
  ("(relativeY(agent1 wall1) stable)" 1750 1756)
  ("(relativeY(agent1 wall1) down)" 1756 1801)
  ("(relativeY(agent1 wall1) stable)" 1801 1807)
  ("(relativeY(agent1 wall1) up)" 1807 1853)
  ("(relativeY(agent1 wall1) stable)" 1853 1859)
  ("(relativeY(agent1 wall1) down)" 1859 1900)
  ("(relativeY(agent1 wall1) stable)" 1900 1907)
  ("(relativeY(agent1 wall1) up)" 1907 1948)
  ("(relativeY(agent1 wall1) stable)" 1948 1954)
  ("(relativeY(agent1 wall1) down)" 1954 2003)
  ("(relativeY(agent1 wall1) stable)" 2003 2009)
  ("(relativeY(agent1 wall1) up)" 2009 2057)
  ("(relativeY(agent1 wall1) stable)" 2057 2063)
  ("(relativeY(agent1 wall1) down)" 2063 2111)
  ("(relativeY(agent1 wall1) stable)" 2111 2117)
  ("(relativeY(agent1 wall1) up)" 2117 2166)
  ("(relativeY(agent1 wall1) stable)" 2166 2172)
  ("(relativeY(agent1 wall1) down)" 2172 2215)
  ("(relativeY(agent1 wall1) stable)" 2215 2221)
  ("(relativeY(agent1 wall1) up)" 2221 2264)
  ("(relativeY(agent1 wall1) stable)" 2264 2271)
  ("(relativeY(agent1 wall1) down)" 2271 2319)
  ("(relativeY(agent1 wall1) stable)" 2319 2324)
  ("(relativeY(agent1 wall1) up)" 2324 2372)
 ))
(4
 (
  ("(x(agent1) 5)" 25 246)
  ("(x(agent1) 4)" 246 274)
  ("(x(agent1) 3)" 274 300)
  ("(x(agent1) 2)" 300 346)
  ("(x(agent1) 3)" 346 393)
  ("(x(agent1) 2)" 393 461)
  ("(x(agent1) 3)" 461 500)
  ("(x(agent1) 2)" 500 573)
  ("(x(agent1) 3)" 573 601)
  ("(x(agent1) 2)" 601 775)
  ("(x(agent1) 3)" 775 809)
  ("(x(agent1) 2)" 809 883)
  ("(x(agent1) 3)" 883 918)
  ("(x(agent1) 2)" 918 1092)
  ("(x(agent1) 3)" 1092 1110)
  ("(x(agent1) 2)" 1110 1190)
  ("(x(agent1) 3)" 1190 1223)
  ("(x(agent1) 2)" 1223 1294)
  ("(x(agent1) 3)" 1294 1334)
  ("(x(agent1) 2)" 1334 1400)
  ("(x(agent1) 3)" 1400 1430)
  ("(x(agent1) 2)" 1430 1496)
  ("(x(agent1) 3)" 1496 1543)
  ("(x(agent1) 2)" 1543 1603)
  ("(x(agent1) 3)" 1603 1651)
  ("(x(agent1) 2)" 1651 1712)
  ("(x(agent1) 3)" 1712 1766)
  ("(x(agent1) 2)" 1766 1827)
  ("(x(agent1) 3)" 1827 1873)
  ("(x(agent1) 2)" 1873 1938)
  ("(x(agent1) 3)" 1938 1979)
  ("(x(agent1) 2)" 1979 2049)
  ("(x(agent1) 3)" 2049 2076)
  ("(x(agent1) 2)" 2076 2146)
  ("(x(agent1) 3)" 2146 2188)
  ("(x(agent1) 2)" 2188 2251)
  ("(x(agent1) 3)" 2251 2301)
  ("(x(agent1) 2)" 2301 2373)
  ("(x(agent1) up)" 26 320)
  ("(x(agent1) stable)" 320 323)
  ("(x(agent1) down)" 323 368)
  ("(x(agent1) stable)" 368 372)
  ("(x(agent1) up)" 372 425)
  ("(x(agent1) stable)" 425 430)
  ("(x(agent1) down)" 430 479)
  ("(x(agent1) stable)" 479 484)
  ("(x(agent1) up)" 484 534)
  ("(x(agent1) stable)" 534 539)
  ("(x(agent1) down)" 539 585)
  ("(x(agent1) stable)" 585 590)
  ("(x(agent1) up)" 590 638)
  ("(x(agent1) stable)" 638 642)
  ("(x(agent1) down)" 642 686)
  ("(x(agent1) stable)" 686 691)
  ("(x(agent1) up)" 691 736)
  ("(x(agent1) stable)" 736 741)
  ("(x(agent1) down)" 741 791)
  ("(x(agent1) stable)" 791 795)
  ("(x(agent1) up)" 795 845)
  ("(x(agent1) stable)" 845 850)
  ("(x(agent1) down)" 850 899)
  ("(x(agent1) stable)" 899 904)
  ("(x(agent1) up)" 904 954)
  ("(x(agent1) stable)" 954 959)
  ("(x(agent1) down)" 959 1000)
  ("(x(agent1) stable)" 1000 1005)
  ("(x(agent1) up)" 1005 1047)
  ("(x(agent1) stable)" 1047 1052)
  ("(x(agent1) down)" 1052 1099)
  ("(x(agent1) stable)" 1099 1104)
  ("(x(agent1) up)" 1104 1150)
  ("(x(agent1) stable)" 1150 1155)
  ("(x(agent1) down)" 1155 1205)
  ("(x(agent1) stable)" 1205 1210)
  ("(x(agent1) up)" 1210 1259)
  ("(x(agent1) stable)" 1259 1263)
  ("(x(agent1) down)" 1263 1313)
  ("(x(agent1) stable)" 1313 1317)
  ("(x(agent1) up)" 1317 1365)
  ("(x(agent1) stable)" 1365 1369)
  ("(x(agent1) down)" 1369 1414)
  ("(x(agent1) stable)" 1414 1418)
  ("(x(agent1) up)" 1418 1464)
  ("(x(agent1) stable)" 1464 1468)
  ("(x(agent1) down)" 1468 1518)
  ("(x(agent1) stable)" 1518 1522)
  ("(x(agent1) up)" 1522 1572)
  ("(x(agent1) stable)" 1572 1576)
  ("(x(agent1) down)" 1576 1626)
  ("(x(agent1) stable)" 1626 1630)
  ("(x(agent1) up)" 1630 1682)
  ("(x(agent1) stable)" 1682 1685)
  ("(x(agent1) down)" 1685 1738)
  ("(x(agent1) stable)" 1738 1742)
  ("(x(agent1) up)" 1742 1796)
  ("(x(agent1) stable)" 1796 1799)
  ("(x(agent1) down)" 1799 1849)
  ("(x(agent1) stable)" 1849 1853)
  ("(x(agent1) up)" 1853 1904)
  ("(x(agent1) stable)" 1904 1908)
  ("(x(agent1) down)" 1908 1957)
  ("(x(agent1) stable)" 1957 1961)
  ("(x(agent1) up)" 1961 2011)
  ("(x(agent1) stable)" 2011 2015)
  ("(x(agent1) down)" 2015 2061)
  ("(x(agent1) stable)" 2061 2065)
  ("(x(agent1) up)" 2065 2112)
  ("(x(agent1) stable)" 2112 2116)
  ("(x(agent1) down)" 2116 2166)
  ("(x(agent1) stable)" 2166 2170)
  ("(x(agent1) up)" 2170 2220)
  ("(x(agent1) stable)" 2220 2223)
  ("(x(agent1) down)" 2223 2275)
  ("(x(agent1) stable)" 2275 2278)
  ("(x(agent1) up)" 2278 2332)
  ("(x(agent1) stable)" 2332 2335)
  ("(x(agent1) down)" 2335 2373)
  ("(y(agent1) 1)" 25 176)
  ("(y(agent1) 2)" 176 204)
  ("(y(agent1) 3)" 204 239)
  ("(y(agent1) 4)" 239 326)
  ("(y(agent1) 5)" 326 360)
  ("(y(agent1) 4)" 360 381)
  ("(y(agent1) 5)" 381 446)
  ("(y(agent1) 4)" 446 1380)
  ("(y(agent1) 3)" 1380 1912)
  ("(y(agent1) 2)" 1912 2373)
  ("(y(agent1) down)" 26 329)
  ("(y(agent1) stable)" 329 437)
  ("(y(agent1) up)" 437 468)
  ("(y(agent1) stable)" 468 505)
  ("(y(agent1) down)" 505 509)
  ("(y(agent1) stable)" 509 549)
  ("(y(agent1) up)" 549 577)
  ("(y(agent1) stable)" 577 651)
  ("(y(agent1) up)" 651 681)
  ("(y(agent1) stable)" 681 748)
  ("(y(agent1) up)" 748 787)
  ("(y(agent1) stable)" 787 855)
  ("(y(agent1) up)" 855 897)
  ("(y(agent1) stable)" 897 967)
  ("(y(agent1) up)" 967 996)
  ("(y(agent1) stable)" 996 1057)
  ("(y(agent1) up)" 1057 1098)
  ("(y(agent1) stable)" 1098 1160)
  ("(y(agent1) up)" 1160 1205)
  ("(y(agent1) stable)" 1205 1266)
  ("(y(agent1) up)" 1266 1317)
  ("(y(agent1) stable)" 1317 1370)
  ("(y(agent1) up)" 1370 1417)
  ("(y(agent1) stable)" 1417 1468)
  ("(y(agent1) up)" 1468 1522)
  ("(y(agent1) stable)" 1522 1577)
  ("(y(agent1) up)" 1577 1629)
  ("(y(agent1) stable)" 1629 1686)
  ("(y(agent1) up)" 1686 1741)
  ("(y(agent1) stable)" 1741 1801)
  ("(y(agent1) up)" 1801 1851)
  ("(y(agent1) stable)" 1851 1910)
  ("(y(agent1) up)" 1910 1959)
  ("(y(agent1) stable)" 1959 2018)
  ("(y(agent1) up)" 2018 2062)
  ("(y(agent1) stable)" 2062 2118)
  ("(y(agent1) up)" 2118 2167)
  ("(y(agent1) stable)" 2167 2225)
  ("(y(agent1) up)" 2225 2277)
  ("(y(agent1) stable)" 2277 2337)
  ("(y(agent1) up)" 2337 2365)
  ("(y(agent1) stable)" 2365 2373)
  ("(speed(agent1) 4)" 25 30)
  ("(speed(agent1) 3)" 30 39)
  ("(speed(agent1) 2)" 39 51)
  ("(speed(agent1) 1)" 51 322)
  ("(speed(agent1) 2)" 322 331)
  ("(speed(agent1) 3)" 331 337)
  ("(speed(agent1) 4)" 337 356)
  ("(speed(agent1) 5)" 356 387)
  ("(speed(agent1) 4)" 387 398)
  ("(speed(agent1) 3)" 398 443)
  ("(speed(agent1) 4)" 443 465)
  ("(speed(agent1) 5)" 465 499)
  ("(speed(agent1) 4)" 499 519)
  ("(speed(agent1) 3)" 519 549)
  ("(speed(agent1) 4)" 549 569)
  ("(speed(agent1) 5)" 569 605)
  ("(speed(agent1) 4)" 605 631)
  ("(speed(agent1) 3)" 631 650)
  ("(speed(agent1) 4)" 650 665)
  ("(speed(agent1) 5)" 665 706)
  ("(speed(agent1) 4)" 706 735)
  ("(speed(agent1) 3)" 735 753)
  ("(speed(agent1) 4)" 753 776)
  ("(speed(agent1) 5)" 776 810)
  ("(speed(agent1) 4)" 810 833)
  ("(speed(agent1) 3)" 833 862)
  ("(speed(agent1) 4)" 862 885)
  ("(speed(agent1) 5)" 885 919)
  ("(speed(agent1) 4)" 919 939)
  ("(speed(agent1) 3)" 939 965)
  ("(speed(agent1) 4)" 965 976)
  ("(speed(agent1) 5)" 976 1022)
  ("(speed(agent1) 4)" 1022 1051)
  ("(speed(agent1) 3)" 1051 1060)
  ("(speed(agent1) 4)" 1060 1081)
  ("(speed(agent1) 5)" 1081 1119)
  ("(speed(agent1) 4)" 1119 1146)
  ("(speed(agent1) 3)" 1146 1168)
  ("(speed(agent1) 4)" 1168 1190)
  ("(speed(agent1) 5)" 1190 1225)
  ("(speed(agent1) 4)" 1225 1244)
  ("(speed(agent1) 3)" 1244 1287)
  ("(speed(agent1) 4)" 1287 1335)
  ("(speed(agent1) 3)" 1335 1355)
  ("(speed(agent1) 2)" 1355 1378)
  ("(speed(agent1) 3)" 1378 1387)
  ("(speed(agent1) 4)" 1387 1437)
  ("(speed(agent1) 3)" 1437 1459)
  ("(speed(agent1) 2)" 1459 1482)
  ("(speed(agent1) 3)" 1482 1497)
  ("(speed(agent1) 4)" 1497 1540)
  ("(speed(agent1) 3)" 1540 1555)
  ("(speed(agent1) 2)" 1555 1591)
  ("(speed(agent1) 3)" 1591 1606)
  ("(speed(agent1) 4)" 1606 1648)
  ("(speed(agent1) 3)" 1648 1660)
  ("(speed(agent1) 2)" 1660 1702)
  ("(speed(agent1) 3)" 1702 1720)
  ("(speed(agent1) 4)" 1720 1759)
  ("(speed(agent1) 3)" 1759 1766)
  ("(speed(agent1) 2)" 1766 1815)
  ("(speed(agent1) 3)" 1815 1829)
  ("(speed(agent1) 4)" 1829 1855)
  ("(speed(agent1) 5)" 1855 1856)
  ("(speed(agent1) 4)" 1856 1871)
  ("(speed(agent1) 3)" 1871 1884)
  ("(speed(agent1) 2)" 1884 1922)
  ("(speed(agent1) 3)" 1922 1935)
  ("(speed(agent1) 4)" 1935 1963)
  ("(speed(agent1) 5)" 1963 1964)
  ("(speed(agent1) 4)" 1964 1979)
  ("(speed(agent1) 3)" 1979 1994)
  ("(speed(agent1) 2)" 1994 2026)
  ("(speed(agent1) 3)" 2026 2035)
  ("(speed(agent1) 4)" 2035 2067)
  ("(speed(agent1) 5)" 2067 2068)
  ("(speed(agent1) 4)" 2068 2083)
  ("(speed(agent1) 3)" 2083 2105)
  ("(speed(agent1) 2)" 2105 2130)
  ("(speed(agent1) 3)" 2130 2145)
  ("(speed(agent1) 4)" 2145 2172)
  ("(speed(agent1) 5)" 2172 2173)
  ("(speed(agent1) 4)" 2173 2188)
  ("(speed(agent1) 3)" 2188 2199)
  ("(speed(agent1) 2)" 2199 2227)
  ("(speed(agent1) 1)" 2227 2234)
  ("(speed(agent1) 2)" 2234 2251)
  ("(speed(agent1) 3)" 2251 2268)
  ("(speed(agent1) 4)" 2268 2290)
  ("(speed(agent1) 3)" 2290 2297)
  ("(speed(agent1) 2)" 2297 2345)
  ("(speed(agent1) 3)" 2345 2351)
  ("(speed(agent1) 4)" 2351 2373)
  ("(speed(agent1) up)" 26 282)
  ("(speed(agent1) stable)" 282 287)
  ("(speed(agent1) down)" 287 374)
  ("(speed(agent1) stable)" 374 375)
  ("(speed(agent1) up)" 375 432)
  ("(speed(agent1) stable)" 432 433)
  ("(speed(agent1) down)" 433 486)
  ("(speed(agent1) up)" 486 540)
  ("(speed(agent1) down)" 540 592)
  ("(speed(agent1) stable)" 592 593)
  ("(speed(agent1) up)" 593 643)
  ("(speed(agent1) down)" 643 693)
  ("(speed(agent1) stable)" 693 694)
  ("(speed(agent1) up)" 694 746)
  ("(speed(agent1) down)" 746 798)
  ("(speed(agent1) up)" 798 853)
  ("(speed(agent1) stable)" 853 854)
  ("(speed(agent1) down)" 854 906)
  ("(speed(agent1) up)" 906 956)
  ("(speed(agent1) stable)" 956 957)
  ("(speed(agent1) down)" 957 1007)
  ("(speed(agent1) up)" 1007 1056)
  ("(speed(agent1) down)" 1056 1106)
  ("(speed(agent1) up)" 1106 1160)
  ("(speed(agent1) down)" 1160 1212)
  ("(speed(agent1) up)" 1212 1270)
  ("(speed(agent1) down)" 1270 1320)
  ("(speed(agent1) up)" 1320 1370)
  ("(speed(agent1) down)" 1370 1421)
  ("(speed(agent1) up)" 1421 1473)
  ("(speed(agent1) down)" 1473 1525)
  ("(speed(agent1) up)" 1525 1580)
  ("(speed(agent1) stable)" 1580 1581)
  ("(speed(agent1) down)" 1581 1633)
  ("(speed(agent1) up)" 1633 1691)
  ("(speed(agent1) down)" 1691 1704)
  ("(speed(agent1) up)" 1704 1705)
  ("(speed(agent1) down)" 1705 1744)
  ("(speed(agent1) stable)" 1744 1745)
  ("(speed(agent1) up)" 1745 1802)
  ("(speed(agent1) stable)" 1802 1803)
  ("(speed(agent1) down)" 1803 1856)
  ("(speed(agent1) up)" 1856 1911)
  ("(speed(agent1) down)" 1911 1963)
  ("(speed(agent1) stable)" 1963 1964)
  ("(speed(agent1) up)" 1964 2016)
  ("(speed(agent1) stable)" 2016 2017)
  ("(speed(agent1) down)" 2017 2068)
  ("(speed(agent1) up)" 2068 2121)
  ("(speed(agent1) down)" 2121 2173)
  ("(speed(agent1) up)" 2173 2231)
  ("(speed(agent1) down)" 2231 2281)
  ("(speed(agent1) stable)" 2281 2282)
  ("(speed(agent1) up)" 2282 2333)
  ("(speed(agent1) down)" 2333 2373)
  ("(heading(agent1) 5)" 50 192)
  ("(heading(agent1) 4)" 192 217)
  ("(heading(agent1) 3)" 217 336)
  ("(heading(agent1) 2)" 336 449)
  ("(heading(agent1) 3)" 449 2348)
  ("(heading(agent1) up)" 51 238)
  ("(heading(agent1) stable)" 238 2348)
  ("(energy(agent1) 1)" 25 635)
  ("(energy(agent1) 2)" 635 1143)
  ("(energy(agent1) 3)" 1143 1460)
  ("(energy(agent1) 4)" 1460 1788)
  ("(energy(agent1) 5)" 1788 2373)
  ("(energy(agent1) stable)" 26 288)
  ("(energy(agent1) down)" 288 339)
  ("(energy(agent1) stable)" 339 398)
  ("(energy(agent1) down)" 398 449)
  ("(energy(agent1) stable)" 449 507)
  ("(energy(agent1) down)" 507 558)
  ("(energy(agent1) stable)" 558 611)
  ("(energy(agent1) down)" 611 662)
  ("(energy(agent1) stable)" 662 710)
  ("(energy(agent1) down)" 710 761)
  ("(energy(agent1) stable)" 761 818)
  ("(energy(agent1) down)" 818 869)
  ("(energy(agent1) stable)" 869 927)
  ("(energy(agent1) down)" 927 978)
  ("(energy(agent1) stable)" 978 1021)
  ("(energy(agent1) down)" 1021 1072)
  ("(energy(agent1) stable)" 1072 1124)
  ("(energy(agent1) down)" 1124 1175)
  ("(energy(agent1) stable)" 1175 1233)
  ("(energy(agent1) down)" 1233 1284)
  ("(energy(agent1) stable)" 1284 1338)
  ("(energy(agent1) down)" 1338 1389)
  ("(energy(agent1) stable)" 1389 1437)
  ("(energy(agent1) down)" 1437 1488)
  ("(energy(agent1) stable)" 1488 1545)
  ("(energy(agent1) down)" 1545 1596)
  ("(energy(agent1) stable)" 1596 1654)
  ("(energy(agent1) down)" 1654 1705)
  ("(energy(agent1) stable)" 1705 1768)
  ("(energy(agent1) down)" 1768 1819)
  ("(energy(agent1) stable)" 1819 1877)
  ("(energy(agent1) down)" 1877 1928)
  ("(energy(agent1) stable)" 1928 1984)
  ("(energy(agent1) down)" 1984 2035)
  ("(energy(agent1) stable)" 2035 2085)
  ("(energy(agent1) down)" 2085 2136)
  ("(energy(agent1) stable)" 2136 2194)
  ("(energy(agent1) down)" 2194 2245)
  ("(energy(agent1) stable)" 2245 2302)
  ("(energy(agent1) down)" 2302 2353)
  ("(energy(agent1) stable)" 2353 2373)
  ("(arousal(agent1) 5)" 25 324)
  ("(arousal(agent1) 4)" 324 350)
  ("(arousal(agent1) 3)" 350 422)
  ("(arousal(agent1) 2)" 422 697)
  ("(arousal(agent1) 3)" 697 721)
  ("(arousal(agent1) 2)" 721 1107)
  ("(arousal(agent1) 3)" 1107 1138)
  ("(arousal(agent1) 2)" 1138 2373)
  ("(arousal(agent1) down)" 26 68)
  ("(arousal(agent1) stable)" 68 77)
  ("(arousal(agent1) up)" 77 164)
  ("(arousal(agent1) stable)" 164 174)
  ("(arousal(agent1) down)" 174 197)
  ("(arousal(agent1) stable)" 197 207)
  ("(arousal(agent1) up)" 207 448)
  ("(arousal(agent1) stable)" 448 456)
  ("(arousal(agent1) down)" 456 472)
  ("(arousal(agent1) stable)" 472 507)
  ("(arousal(agent1) up)" 507 523)
  ("(arousal(agent1) stable)" 523 561)
  ("(arousal(agent1) down)" 561 610)
  ("(arousal(agent1) stable)" 610 661)
  ("(arousal(agent1) down)" 661 709)
  ("(arousal(agent1) up)" 709 760)
  ("(arousal(agent1) down)" 760 788)
  ("(arousal(agent1) stable)" 788 800)
  ("(arousal(agent1) up)" 800 853)
  ("(arousal(agent1) stable)" 853 871)
  ("(arousal(agent1) down)" 871 894)
  ("(arousal(agent1) stable)" 894 922)
  ("(arousal(agent1) up)" 922 945)
  ("(arousal(agent1) stable)" 945 980)
  ("(arousal(agent1) down)" 980 1020)
  ("(arousal(agent1) stable)" 1020 1071)
  ("(arousal(agent1) down)" 1071 1123)
  ("(arousal(agent1) up)" 1123 1174)
  ("(arousal(agent1) down)" 1174 1204)
  ("(arousal(agent1) stable)" 1204 1214)
  ("(arousal(agent1) up)" 1214 1270)
  ("(arousal(agent1) stable)" 1270 1288)
  ("(arousal(agent1) down)" 1288 1316)
  ("(arousal(agent1) stable)" 1316 1339)
  ("(arousal(agent1) up)" 1339 1367)
  ("(arousal(agent1) stable)" 1367 1402)
  ("(arousal(agent1) down)" 1402 1405)
  ("(arousal(agent1) stable)" 1405 1502)
  ("(arousal(agent1) down)" 1502 1524)
  ("(arousal(agent1) stable)" 1524 1551)
  ("(arousal(agent1) up)" 1551 1577)
  ("(arousal(agent1) stable)" 1577 1615)
  ("(arousal(agent1) down)" 1615 1631)
  ("(arousal(agent1) stable)" 1631 1666)
  ("(arousal(agent1) up)" 1666 1682)
  ("(arousal(agent1) stable)" 1682 1718)
  ("(arousal(agent1) down)" 1718 1751)
  ("(arousal(agent1) stable)" 1751 1771)
  ("(arousal(agent1) up)" 1771 1802)
  ("(arousal(agent1) stable)" 1802 1838)
  ("(arousal(agent1) down)" 1838 1854)
  ("(arousal(agent1) stable)" 1854 1887)
  ("(arousal(agent1) up)" 1887 1907)
  ("(arousal(agent1) stable)" 1907 1946)
  ("(arousal(agent1) down)" 1946 1959)
  ("(arousal(agent1) stable)" 1959 1997)
  ("(arousal(agent1) up)" 1997 2010)
  ("(arousal(agent1) stable)" 2010 2051)
  ("(arousal(agent1) down)" 2051 2055)
  ("(arousal(agent1) stable)" 2055 2102)
  ("(arousal(agent1) up)" 2102 2106)
  ("(arousal(agent1) stable)" 2106 2147)
  ("(arousal(agent1) down)" 2147 2174)
  ("(arousal(agent1) stable)" 2174 2200)
  ("(arousal(agent1) up)" 2200 2225)
  ("(arousal(agent1) stable)" 2225 2262)
  ("(arousal(agent1) down)" 2262 2287)
  ("(arousal(agent1) stable)" 2287 2313)
  ("(arousal(agent1) up)" 2313 2338)
  ("(arousal(agent1) stable)" 2338 2373)
  ("(valence(agent1) 5)" 25 327)
  ("(valence(agent1) 4)" 327 412)
  ("(valence(agent1) 3)" 412 435)
  ("(valence(agent1) 2)" 435 2373)
  ("(valence(agent1) stable)" 26 287)
  ("(valence(agent1) up)" 287 338)
  ("(valence(agent1) down)" 338 397)
  ("(valence(agent1) up)" 397 448)
  ("(valence(agent1) down)" 448 506)
  ("(valence(agent1) up)" 506 557)
  ("(valence(agent1) down)" 557 610)
  ("(valence(agent1) up)" 610 661)
  ("(valence(agent1) down)" 661 709)
  ("(valence(agent1) up)" 709 760)
  ("(valence(agent1) down)" 760 817)
  ("(valence(agent1) up)" 817 868)
  ("(valence(agent1) down)" 868 926)
  ("(valence(agent1) up)" 926 977)
  ("(valence(agent1) down)" 977 1020)
  ("(valence(agent1) up)" 1020 1071)
  ("(valence(agent1) down)" 1071 1123)
  ("(valence(agent1) up)" 1123 1174)
  ("(valence(agent1) down)" 1174 1232)
  ("(valence(agent1) up)" 1232 1283)
  ("(valence(agent1) down)" 1283 1337)
  ("(valence(agent1) up)" 1337 1388)
  ("(valence(agent1) down)" 1388 1436)
  ("(valence(agent1) up)" 1436 1487)
  ("(valence(agent1) down)" 1487 1544)
  ("(valence(agent1) up)" 1544 1595)
  ("(valence(agent1) down)" 1595 1653)
  ("(valence(agent1) up)" 1653 1704)
  ("(valence(agent1) down)" 1704 1767)
  ("(valence(agent1) up)" 1767 1818)
  ("(valence(agent1) down)" 1818 1876)
  ("(valence(agent1) up)" 1876 1927)
  ("(valence(agent1) down)" 1927 1983)
  ("(valence(agent1) up)" 1983 2034)
  ("(valence(agent1) down)" 2034 2084)
  ("(valence(agent1) up)" 2084 2135)
  ("(valence(agent1) down)" 2135 2193)
  ("(valence(agent1) up)" 2193 2244)
  ("(valence(agent1) down)" 2244 2301)
  ("(valence(agent1) up)" 2301 2352)
  ("(valence(agent1) down)" 2352 2373)
  ("(goal(agent1) WanderGoal)" 0 210)
  ("(goal(agent1) PursueGoal)" 210 2398)
  ("(state(agent1) wander)" 0 210)
  ("(state(agent1) charge)" 210 311)
  ("(state(agent1) back-away)" 311 343)
  ("(state(agent1) charge)" 343 421)
  ("(state(agent1) back-away)" 421 455)
  ("(state(agent1) charge)" 455 530)
  ("(state(agent1) back-away)" 530 562)
  ("(state(agent1) charge)" 562 634)
  ("(state(agent1) back-away)" 634 664)
  ("(state(agent1) charge)" 664 733)
  ("(state(agent1) back-away)" 733 767)
  ("(state(agent1) charge)" 767 841)
  ("(state(agent1) back-away)" 841 875)
  ("(state(agent1) charge)" 875 950)
  ("(state(agent1) back-away)" 950 978)
  ("(state(agent1) charge)" 978 1044)
  ("(state(agent1) back-away)" 1044 1076)
  ("(state(agent1) charge)" 1076 1147)
  ("(state(agent1) back-away)" 1147 1181)
  ("(state(agent1) charge)" 1181 1256)
  ("(state(agent1) back-away)" 1256 1290)
  ("(state(agent1) charge)" 1290 1361)
  ("(state(agent1) back-away)" 1361 1391)
  ("(state(agent1) charge)" 1391 1460)
  ("(state(agent1) back-away)" 1460 1494)
  ("(state(agent1) charge)" 1494 1568)
  ("(state(agent1) back-away)" 1568 1602)
  ("(state(agent1) charge)" 1602 1677)
  ("(state(agent1) back-away)" 1677 1713)
  ("(state(agent1) charge)" 1713 1791)
  ("(state(agent1) back-away)" 1791 1825)
  ("(state(agent1) charge)" 1825 1900)
  ("(state(agent1) back-away)" 1900 1933)
  ("(state(agent1) charge)" 1933 2007)
  ("(state(agent1) back-away)" 2007 2038)
  ("(state(agent1) charge)" 2038 2108)
  ("(state(agent1) back-away)" 2108 2142)
  ("(state(agent1) charge)" 2142 2217)
  ("(state(agent1) back-away)" 2217 2251)
  ("(state(agent1) charge)" 2251 2325)
  ("(state(agent1) back-away)" 2325 2356)
  ("(state(agent1) charge)" 2356 2398)
  ("(x(agent2) 1)" 234 289)
  ("(x(agent2) 2)" 289 295)
  ("(x(agent2) 3)" 295 301)
  ("(x(agent2) 4)" 301 312)
  ("(x(agent2) 5)" 312 329)
  ("(x(agent2) 4)" 329 342)
  ("(x(agent2) 3)" 342 355)
  ("(x(agent2) 2)" 355 385)
  ("(x(agent2) 3)" 385 396)
  ("(x(agent2) 4)" 396 410)
  ("(x(agent2) 5)" 410 442)
  ("(x(agent2) 4)" 442 455)
  ("(x(agent2) 3)" 455 469)
  ("(x(agent2) 2)" 469 492)
  ("(x(agent2) 3)" 492 505)
  ("(x(agent2) 4)" 505 520)
  ("(x(agent2) 5)" 520 551)
  ("(x(agent2) 4)" 551 565)
  ("(x(agent2) 3)" 565 608)
  ("(x(agent2) 4)" 608 623)
  ("(x(agent2) 5)" 623 656)
  ("(x(agent2) 4)" 656 672)
  ("(x(agent2) 3)" 672 704)
  ("(x(agent2) 4)" 704 720)
  ("(x(agent2) 5)" 720 754)
  ("(x(agent2) 4)" 754 767)
  ("(x(agent2) 3)" 767 781)
  ("(x(agent2) 2)" 781 804)
  ("(x(agent2) 3)" 804 817)
  ("(x(agent2) 4)" 817 832)
  ("(x(agent2) 5)" 832 861)
  ("(x(agent2) 4)" 861 874)
  ("(x(agent2) 3)" 874 888)
  ("(x(agent2) 2)" 888 914)
  ("(x(agent2) 3)" 914 926)
  ("(x(agent2) 4)" 926 941)
  ("(x(agent2) 5)" 941 971)
  ("(x(agent2) 4)" 971 989)
  ("(x(agent2) 3)" 989 1014)
  ("(x(agent2) 4)" 1014 1032)
  ("(x(agent2) 5)" 1032 1064)
  ("(x(agent2) 4)" 1064 1079)
  ("(x(agent2) 3)" 1079 1122)
  ("(x(agent2) 4)" 1122 1138)
  ("(x(agent2) 5)" 1138 1166)
  ("(x(agent2) 4)" 1166 1180)
  ("(x(agent2) 3)" 1180 1193)
  ("(x(agent2) 2)" 1193 1220)
  ("(x(agent2) 3)" 1220 1233)
  ("(x(agent2) 4)" 1233 1248)
  ("(x(agent2) 5)" 1248 1272)
  ("(x(agent2) 4)" 1272 1285)
  ("(x(agent2) 3)" 1285 1295)
  ("(x(agent2) 2)" 1295 1334)
  ("(x(agent2) 3)" 1334 1343)
  ("(x(agent2) 4)" 1343 1361)
  ("(x(agent2) 5)" 1361 1371)
  ("(x(agent2) 4)" 1371 1388)
  ("(x(agent2) 3)" 1388 1399)
  ("(x(agent2) 2)" 1399 1431)
  ("(x(agent2) 3)" 1431 1441)
  ("(x(agent2) 4)" 1441 1460)
  ("(x(agent2) 5)" 1460 1469)
  ("(x(agent2) 4)" 1469 1485)
  ("(x(agent2) 3)" 1485 1494)
  ("(x(agent2) 2)" 1494 1507)
  ("(x(agent2) 1)" 1507 1532)
  ("(x(agent2) 2)" 1532 1544)
  ("(x(agent2) 3)" 1544 1553)
  ("(x(agent2) 4)" 1553 1593)
  ("(x(agent2) 3)" 1593 1601)
  ("(x(agent2) 2)" 1601 1614)
  ("(x(agent2) 1)" 1614 1641)
  ("(x(agent2) 2)" 1641 1653)
  ("(x(agent2) 3)" 1653 1662)
  ("(x(agent2) 4)" 1662 1701)
  ("(x(agent2) 3)" 1701 1709)
  ("(x(agent2) 2)" 1709 1720)
  ("(x(agent2) 1)" 1720 1758)
  ("(x(agent2) 2)" 1758 1768)
  ("(x(agent2) 3)" 1768 1777)
  ("(x(agent2) 4)" 1777 1814)
  ("(x(agent2) 3)" 1814 1823)
  ("(x(agent2) 2)" 1823 1835)
  ("(x(agent2) 1)" 1835 1867)
  ("(x(agent2) 2)" 1867 1878)
  ("(x(agent2) 3)" 1878 1887)
  ("(x(agent2) 4)" 1887 1923)
  ("(x(agent2) 3)" 1923 1932)
  ("(x(agent2) 2)" 1932 1945)
  ("(x(agent2) 1)" 1945 1972)
  ("(x(agent2) 2)" 1972 1984)
  ("(x(agent2) 3)" 1984 1994)
  ("(x(agent2) 4)" 1994 2030)
  ("(x(agent2) 3)" 2030 2040)
  ("(x(agent2) 2)" 2040 2058)
  ("(x(agent2) 1)" 2058 2067)
  ("(x(agent2) 2)" 2067 2084)
  ("(x(agent2) 3)" 2084 2095)
  ("(x(agent2) 4)" 2095 2130)
  ("(x(agent2) 3)" 2130 2139)
  ("(x(agent2) 2)" 2139 2151)
  ("(x(agent2) 1)" 2151 2184)
  ("(x(agent2) 2)" 2184 2195)
  ("(x(agent2) 3)" 2195 2205)
  ("(x(agent2) 4)" 2205 2235)
  ("(x(agent2) 3)" 2235 2243)
  ("(x(agent2) 2)" 2243 2252)
  ("(x(agent2) 1)" 2252 2299)
  ("(x(agent2) 2)" 2299 2309)
  ("(x(agent2) 3)" 2309 2318)
  ("(x(agent2) 4)" 2318 2337)
  ("(x(agent2) 5)" 2337 2359)
  ("(x(agent2) 4)" 2359 2373)
  ("(x(agent2) down)" 235 321)
  ("(x(agent2) up)" 321 370)
  ("(x(agent2) stable)" 370 371)
  ("(x(agent2) down)" 371 427)
  ("(x(agent2) up)" 427 481)
  ("(x(agent2) stable)" 481 482)
  ("(x(agent2) down)" 482 536)
  ("(x(agent2) stable)" 536 537)
  ("(x(agent2) up)" 537 587)
  ("(x(agent2) stable)" 587 588)
  ("(x(agent2) down)" 588 639)
  ("(x(agent2) stable)" 639 640)
  ("(x(agent2) up)" 640 689)
  ("(x(agent2) down)" 689 738)
  ("(x(agent2) stable)" 738 739)
  ("(x(agent2) up)" 739 793)
  ("(x(agent2) stable)" 793 794)
  ("(x(agent2) down)" 794 847)
  ("(x(agent2) stable)" 847 848)
  ("(x(agent2) up)" 848 901)
  ("(x(agent2) stable)" 901 902)
  ("(x(agent2) down)" 902 956)
  ("(x(agent2) stable)" 956 957)
  ("(x(agent2) up)" 957 1002)
  ("(x(agent2) stable)" 1002 1003)
  ("(x(agent2) down)" 1003 1049)
  ("(x(agent2) stable)" 1049 1050)
  ("(x(agent2) up)" 1050 1101)
  ("(x(agent2) stable)" 1101 1102)
  ("(x(agent2) down)" 1102 1152)
  ("(x(agent2) stable)" 1152 1153)
  ("(x(agent2) up)" 1153 1207)
  ("(x(agent2) stable)" 1207 1208)
  ("(x(agent2) down)" 1208 1260)
  ("(x(agent2) stable)" 1260 1261)
  ("(x(agent2) up)" 1261 1315)
  ("(x(agent2) stable)" 1315 1316)
  ("(x(agent2) down)" 1316 1366)
  ("(x(agent2) stable)" 1366 1367)
  ("(x(agent2) up)" 1367 1416)
  ("(x(agent2) down)" 1416 1465)
  ("(x(agent2) stable)" 1465 1466)
  ("(x(agent2) up)" 1466 1520)
  ("(x(agent2) down)" 1520 1574)
  ("(x(agent2) up)" 1574 1628)
  ("(x(agent2) stable)" 1628 1629)
  ("(x(agent2) down)" 1629 1683)
  ("(x(agent2) up)" 1683 1739)
  ("(x(agent2) stable)" 1739 1740)
  ("(x(agent2) down)" 1740 1797)
  ("(x(agent2) up)" 1797 1851)
  ("(x(agent2) stable)" 1851 1852)
  ("(x(agent2) down)" 1852 1906)
  ("(x(agent2) up)" 1906 1959)
  ("(x(agent2) down)" 1959 2012)
  ("(x(agent2) stable)" 2012 2013)
  ("(x(agent2) up)" 2013 2063)
  ("(x(agent2) stable)" 2063 2064)
  ("(x(agent2) down)" 2064 2113)
  ("(x(agent2) stable)" 2113 2114)
  ("(x(agent2) up)" 2114 2168)
  ("(x(agent2) down)" 2168 2221)
  ("(x(agent2) stable)" 2221 2222)
  ("(x(agent2) up)" 2222 2277)
  ("(x(agent2) down)" 2277 2346)
  ("(x(agent2) stable)" 2346 2347)
  ("(x(agent2) up)" 2347 2364)
  ("(x(agent2) stable)" 2364 2370)
  ("(x(agent2) down)" 2370 2373)
  ("(y(agent2) 5)" 234 849)
  ("(y(agent2) 4)" 849 1234)
  ("(y(agent2) 3)" 1234 1502)
  ("(y(agent2) 2)" 1502 1785)
  ("(y(agent2) 1)" 1785 2373)
  ("(y(agent2) down)" 235 257)
  ("(y(agent2) stable)" 257 269)
  ("(y(agent2) up)" 269 310)
  ("(y(agent2) stable)" 310 324)
  ("(y(agent2) down)" 324 369)
  ("(y(agent2) stable)" 369 394)
  ("(y(agent2) up)" 394 402)
  ("(y(agent2) stable)" 402 434)
  ("(y(agent2) down)" 434 463)
  ("(y(agent2) stable)" 463 483)
  ("(y(agent2) up)" 483 536)
  ("(y(agent2) stable)" 536 588)
  ("(y(agent2) up)" 588 642)
  ("(y(agent2) stable)" 642 682)
  ("(y(agent2) up)" 682 742)
  ("(y(agent2) stable)" 742 783)
  ("(y(agent2) up)" 783 854)
  ("(y(agent2) stable)" 854 882)
  ("(y(agent2) up)" 882 966)
  ("(y(agent2) stable)" 966 986)
  ("(y(agent2) up)" 986 1064)
  ("(y(agent2) stable)" 1064 1074)
  ("(y(agent2) up)" 1074 1168)
  ("(y(agent2) stable)" 1168 1178)
  ("(y(agent2) up)" 1178 1591)
  ("(y(agent2) stable)" 1591 1597)
  ("(y(agent2) up)" 1597 1699)
  ("(y(agent2) stable)" 1699 1706)
  ("(y(agent2) up)" 1706 1806)
  ("(y(agent2) stable)" 1806 1830)
  ("(y(agent2) up)" 1830 1916)
  ("(y(agent2) stable)" 1916 1936)
  ("(y(agent2) up)" 1936 2019)
  ("(y(agent2) stable)" 2019 2051)
  ("(y(agent2) up)" 2051 2120)
  ("(y(agent2) stable)" 2120 2152)
  ("(y(agent2) up)" 2152 2225)
  ("(y(agent2) stable)" 2225 2266)
  ("(y(agent2) up)" 2266 2325)
  ("(y(agent2) stable)" 2325 2338)
  ("(y(agent2) down)" 2338 2373)
  ("(speed(agent2) 1)" 234 329)
  ("(speed(agent2) 2)" 329 335)
  ("(speed(agent2) 3)" 335 343)
  ("(speed(agent2) 4)" 343 358)
  ("(speed(agent2) 5)" 358 386)
  ("(speed(agent2) 4)" 386 394)
  ("(speed(agent2) 3)" 394 423)
  ("(speed(agent2) 2)" 423 437)
  ("(speed(agent2) 3)" 437 447)
  ("(speed(agent2) 4)" 447 467)
  ("(speed(agent2) 5)" 467 498)
  ("(speed(agent2) 4)" 498 505)
  ("(speed(agent2) 3)" 505 554)
  ("(speed(agent2) 4)" 554 571)
  ("(speed(agent2) 5)" 571 604)
  ("(speed(agent2) 4)" 604 618)
  ("(speed(agent2) 3)" 618 655)
  ("(speed(agent2) 4)" 655 668)
  ("(speed(agent2) 5)" 668 705)
  ("(speed(agent2) 4)" 705 724)
  ("(speed(agent2) 3)" 724 758)
  ("(speed(agent2) 4)" 758 778)
  ("(speed(agent2) 5)" 778 809)
  ("(speed(agent2) 4)" 809 819)
  ("(speed(agent2) 3)" 819 867)
  ("(speed(agent2) 4)" 867 887)
  ("(speed(agent2) 5)" 887 918)
  ("(speed(agent2) 4)" 918 925)
  ("(speed(agent2) 3)" 925 969)
  ("(speed(agent2) 4)" 969 976)
  ("(speed(agent2) 5)" 976 1019)
  ("(speed(agent2) 4)" 1019 1040)
  ("(speed(agent2) 3)" 1040 1066)
  ("(speed(agent2) 4)" 1066 1084)
  ("(speed(agent2) 5)" 1084 1118)
  ("(speed(agent2) 4)" 1118 1133)
  ("(speed(agent2) 3)" 1133 1172)
  ("(speed(agent2) 4)" 1172 1193)
  ("(speed(agent2) 5)" 1193 1224)
  ("(speed(agent2) 4)" 1224 1231)
  ("(speed(agent2) 3)" 1231 1256)
  ("(speed(agent2) 2)" 1256 1279)
  ("(speed(agent2) 3)" 1279 1295)
  ("(speed(agent2) 4)" 1295 1332)
  ("(speed(agent2) 3)" 1332 1340)
  ("(speed(agent2) 2)" 1340 1364)
  ("(speed(agent2) 1)" 1364 1374)
  ("(speed(agent2) 2)" 1374 1384)
  ("(speed(agent2) 3)" 1384 1393)
  ("(speed(agent2) 4)" 1393 1433)
  ("(speed(agent2) 3)" 1433 1445)
  ("(speed(agent2) 2)" 1445 1467)
  ("(speed(agent2) 1)" 1467 1478)
  ("(speed(agent2) 2)" 1478 1491)
  ("(speed(agent2) 3)" 1491 1504)
  ("(speed(agent2) 4)" 1504 1537)
  ("(speed(agent2) 3)" 1537 1542)
  ("(speed(agent2) 2)" 1542 1565)
  ("(speed(agent2) 1)" 1565 1588)
  ("(speed(agent2) 2)" 1588 1600)
  ("(speed(agent2) 3)" 1600 1612)
  ("(speed(agent2) 4)" 1612 1645)
  ("(speed(agent2) 3)" 1645 1650)
  ("(speed(agent2) 2)" 1650 1671)
  ("(speed(agent2) 1)" 1671 1699)
  ("(speed(agent2) 2)" 1699 1714)
  ("(speed(agent2) 3)" 1714 1726)
  ("(speed(agent2) 4)" 1726 1757)
  ("(speed(agent2) 3)" 1757 1762)
  ("(speed(agent2) 2)" 1762 1773)
  ("(speed(agent2) 1)" 1773 1812)
  ("(speed(agent2) 2)" 1812 1823)
  ("(speed(agent2) 3)" 1823 1836)
  ("(speed(agent2) 4)" 1836 1868)
  ("(speed(agent2) 3)" 1868 1874)
  ("(speed(agent2) 2)" 1874 1894)
  ("(speed(agent2) 1)" 1894 1919)
  ("(speed(agent2) 2)" 1919 1928)
  ("(speed(agent2) 3)" 1928 1942)
  ("(speed(agent2) 4)" 1942 1976)
  ("(speed(agent2) 3)" 1976 1981)
  ("(speed(agent2) 2)" 1981 2004)
  ("(speed(agent2) 1)" 2004 2023)
  ("(speed(agent2) 2)" 2023 2031)
  ("(speed(agent2) 3)" 2031 2043)
  ("(speed(agent2) 4)" 2043 2080)
  ("(speed(agent2) 3)" 2080 2091)
  ("(speed(agent2) 2)" 2091 2113)
  ("(speed(agent2) 1)" 2113 2126)
  ("(speed(agent2) 2)" 2126 2139)
  ("(speed(agent2) 3)" 2139 2152)
  ("(speed(agent2) 4)" 2152 2185)
  ("(speed(agent2) 3)" 2185 2190)
  ("(speed(agent2) 2)" 2190 2206)
  ("(speed(agent2) 1)" 2206 2246)
  ("(speed(agent2) 2)" 2246 2261)
  ("(speed(agent2) 3)" 2261 2276)
  ("(speed(agent2) 4)" 2276 2286)
  ("(speed(agent2) 3)" 2286 2294)
  ("(speed(agent2) 2)" 2294 2300)
  ("(speed(agent2) 1)" 2300 2316)
  ("(speed(agent2) 2)" 2316 2326)
  ("(speed(agent2) 3)" 2326 2331)
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  ("(speed(agent2) up)" 235 287)
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  ("(speed(agent2) up)" 375 433)
  ("(speed(agent2) down)" 433 486)
  ("(speed(agent2) up)" 486 540)
  ("(speed(agent2) down)" 540 592)
  ("(speed(agent2) stable)" 592 593)
  ("(speed(agent2) up)" 593 643)
  ("(speed(agent2) down)" 643 694)
  ("(speed(agent2) up)" 694 746)
  ("(speed(agent2) down)" 746 798)
  ("(speed(agent2) up)" 798 853)
  ("(speed(agent2) stable)" 853 854)
  ("(speed(agent2) down)" 854 906)
  ("(speed(agent2) up)" 906 956)
  ("(speed(agent2) stable)" 956 957)
  ("(speed(agent2) down)" 957 1007)
  ("(speed(agent2) up)" 1007 1056)
  ("(speed(agent2) down)" 1056 1106)
  ("(speed(agent2) up)" 1106 1160)
  ("(speed(agent2) down)" 1160 1212)
  ("(speed(agent2) up)" 1212 1270)
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  ("(speed(agent2) up)" 1320 1370)
  ("(speed(agent2) down)" 1370 1421)
  ("(speed(agent2) up)" 1421 1473)
  ("(speed(agent2) down)" 1473 1525)
  ("(speed(agent2) up)" 1525 1580)
  ("(speed(agent2) down)" 1580 1633)
  ("(speed(agent2) up)" 1633 1691)
  ("(speed(agent2) down)" 1691 1704)
  ("(speed(agent2) up)" 1704 1705)
  ("(speed(agent2) down)" 1705 1744)
  ("(speed(agent2) stable)" 1744 1745)
  ("(speed(agent2) up)" 1745 1802)
  ("(speed(agent2) stable)" 1802 1803)
  ("(speed(agent2) down)" 1803 1856)
  ("(speed(agent2) up)" 1856 1911)
  ("(speed(agent2) down)" 1911 1964)
  ("(speed(agent2) up)" 1964 2016)
  ("(speed(agent2) stable)" 2016 2017)
  ("(speed(agent2) down)" 2017 2068)
  ("(speed(agent2) up)" 2068 2121)
  ("(speed(agent2) down)" 2121 2173)
  ("(speed(agent2) up)" 2173 2231)
  ("(speed(agent2) down)" 2231 2281)
  ("(speed(agent2) stable)" 2281 2282)
  ("(speed(agent2) up)" 2282 2309)
  ("(speed(agent2) down)" 2309 2373)
  ("(heading(agent2) 1)" 259 260)
  ("(heading(agent2) 2)" 260 262)
  ("(heading(agent2) 3)" 262 265)
  ("(heading(agent2) 4)" 265 267)
  ("(heading(agent2) 5)" 267 339)
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  ("(heading(agent2) 4)" 530 690)
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  ("(heading(agent2) 2)" 1575 1688)
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  ("(heading(agent2) 2)" 2292 2302)
  ("(heading(agent2) 1)" 2302 2348)
  ("(heading(agent2) down)" 260 278)
  ("(heading(agent2) stable)" 278 291)
  ("(heading(agent2) up)" 291 300)
  ("(heading(agent2) stable)" 300 326)
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  ("(heading(agent2) stable)" 332 2288)
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  ("heard(agent1 agent2)" 2189 2251)
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  ("novel(agent1 agent2)" 2190 2270)
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  ("novel(agent1 agent2)" 1979 2060)
  ("novel(agent1 agent2)" 1874 1955)
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  ("novel(agent1 agent2)" 1542 1624)
  ("novel(agent1 agent2)" 1429 1510)
  ("novel(agent1 agent2)" 1332 1412)
  ("novel(agent1 agent2)" 1217 1297)
  ("novel(agent1 agent2)" 912 990)
  ("novel(agent1 agent2)" 802 881)
  ("novel(agent1 agent2)" 492 571)
  ("novel(agent1 agent2)" 385 466)
  ("novel(agent1 agent2)" 294 376)
  ("novel(agent1 agent2)" 210 291)
  ("collision(agent1 agent2)" 2325 2328)
  ("collision(agent1 agent2)" 2217 2220)
  ("collision(agent1 agent2)" 2108 2110)
  ("collision(agent1 agent2)" 2007 2010)
  ("collision(agent1 agent2)" 1900 1902)
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  ("collision(agent1 agent2)" 1677 1680)
  ("collision(agent1 agent2)" 1568 1570)
  ("collision(agent1 agent2)" 1460 1463)
  ("collision(agent1 agent2)" 1361 1364)
  ("collision(agent1 agent2)" 1256 1259)
  ("collision(agent1 agent2)" 1147 1149)
  ("collision(agent1 agent2)" 1044 1046)
  ("collision(agent1 agent2)" 950 953)
  ("collision(agent1 agent2)" 841 843)
  ("collision(agent1 agent2)" 733 736)
  ("collision(agent1 agent2)" 634 636)
  ("collision(agent1 agent2)" 530 532)
  ("collision(agent1 agent2)" 421 424)
  ("collision(agent1 agent2)" 311 314)
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  ("(distance(agent1 agent2) 2)" 885 916)
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  ("(distance(agent1 agent2) 4)" 1016 1034)
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  ("(distance(agent1 agent2) 2)" 1095 1106)
  ("(distance(agent1 agent2) 3)" 1106 1123)
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  ("(distance(agent1 agent2) 4)" 1164 1179)
  ("(distance(agent1 agent2) 3)" 1179 1192)
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  ("(distance(agent1 agent2) 3)" 1388 1399)
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  ("(distance(agent1 agent2) 3)" 1702 1710)
  ("(distance(agent1 agent2) 2)" 1710 1722)
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  ("(distance(agent1 agent2) 4)" 1800 1816)
  ("(distance(agent1 agent2) 3)" 1816 1825)
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  ("(distance(agent1 agent2) 4)" 2017 2034)
  ("(distance(agent1 agent2) 3)" 2034 2044)
  ("(distance(agent1 agent2) 2)" 2044 2081)
  ("(distance(agent1 agent2) 3)" 2081 2091)
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  ("(distance(agent1 agent2) 4)" 2313 2326)
  ("(distance(agent1 agent2) 5)" 2326 2350)
  ("(distance(agent1 agent2) 4)" 2350 2373)
  ("(distance(agent1 agent2) down)" 235 321)
  ("(distance(agent1 agent2) stable)" 321 322)
  ("(distance(agent1 agent2) up)" 322 370)
  ("(distance(agent1 agent2) stable)" 370 371)
  ("(distance(agent1 agent2) down)" 371 427)
  ("(distance(agent1 agent2) stable)" 427 428)
  ("(distance(agent1 agent2) up)" 428 481)
  ("(distance(agent1 agent2) stable)" 481 482)
  ("(distance(agent1 agent2) down)" 482 536)
  ("(distance(agent1 agent2) stable)" 536 537)
  ("(distance(agent1 agent2) up)" 537 587)
  ("(distance(agent1 agent2) stable)" 587 588)
  ("(distance(agent1 agent2) down)" 588 640)
  ("(distance(agent1 agent2) up)" 640 689)
  ("(distance(agent1 agent2) down)" 689 738)
  ("(distance(agent1 agent2) stable)" 738 739)
  ("(distance(agent1 agent2) up)" 739 793)
  ("(distance(agent1 agent2) stable)" 793 794)
  ("(distance(agent1 agent2) down)" 794 847)
  ("(distance(agent1 agent2) stable)" 847 848)
  ("(distance(agent1 agent2) up)" 848 901)
  ("(distance(agent1 agent2) stable)" 901 902)
  ("(distance(agent1 agent2) down)" 902 956)
  ("(distance(agent1 agent2) stable)" 956 957)
  ("(distance(agent1 agent2) up)" 957 1002)
  ("(distance(agent1 agent2) stable)" 1002 1003)
  ("(distance(agent1 agent2) down)" 1003 1049)
  ("(distance(agent1 agent2) stable)" 1049 1050)
  ("(distance(agent1 agent2) up)" 1050 1101)
  ("(distance(agent1 agent2) stable)" 1101 1102)
  ("(distance(agent1 agent2) down)" 1102 1152)
  ("(distance(agent1 agent2) stable)" 1152 1153)
  ("(distance(agent1 agent2) up)" 1153 1207)
  ("(distance(agent1 agent2) stable)" 1207 1208)
  ("(distance(agent1 agent2) down)" 1208 1261)
  ("(distance(agent1 agent2) up)" 1261 1315)
  ("(distance(agent1 agent2) stable)" 1315 1316)
  ("(distance(agent1 agent2) down)" 1316 1366)
  ("(distance(agent1 agent2) stable)" 1366 1367)
  ("(distance(agent1 agent2) up)" 1367 1416)
  ("(distance(agent1 agent2) down)" 1416 1465)
  ("(distance(agent1 agent2) stable)" 1465 1466)
  ("(distance(agent1 agent2) up)" 1466 1520)
  ("(distance(agent1 agent2) down)" 1520 1574)
  ("(distance(agent1 agent2) stable)" 1574 1575)
  ("(distance(agent1 agent2) up)" 1575 1628)
  ("(distance(agent1 agent2) stable)" 1628 1629)
  ("(distance(agent1 agent2) down)" 1629 1683)
  ("(distance(agent1 agent2) stable)" 1683 1684)
  ("(distance(agent1 agent2) up)" 1684 1739)
  ("(distance(agent1 agent2) stable)" 1739 1740)
  ("(distance(agent1 agent2) down)" 1740 1797)
  ("(distance(agent1 agent2) stable)" 1797 1798)
  ("(distance(agent1 agent2) up)" 1798 1851)
  ("(distance(agent1 agent2) stable)" 1851 1852)
  ("(distance(agent1 agent2) down)" 1852 1906)
  ("(distance(agent1 agent2) stable)" 1906 1907)
  ("(distance(agent1 agent2) up)" 1907 1959)
  ("(distance(agent1 agent2) down)" 1959 2013)
  ("(distance(agent1 agent2) up)" 2013 2063)
  ("(distance(agent1 agent2) stable)" 2063 2064)
  ("(distance(agent1 agent2) down)" 2064 2113)
  ("(distance(agent1 agent2) stable)" 2113 2114)
  ("(distance(agent1 agent2) up)" 2114 2168)
  ("(distance(agent1 agent2) down)" 2168 2221)
  ("(distance(agent1 agent2) stable)" 2221 2222)
  ("(distance(agent1 agent2) up)" 2222 2277)
  ("(distance(agent1 agent2) down)" 2277 2338)
  ("(distance(agent1 agent2) stable)" 2338 2339)
  ("(distance(agent1 agent2) up)" 2339 2373)
  ("(relativeX(agent1 agent2) 5)" 234 291)
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  ("(relativeX(agent1 agent2) 3)" 297 304)
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  ("(relativeX(agent1 agent2) 3)" 389 400)
  ("(relativeX(agent1 agent2) 2)" 400 415)
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  ("(relativeX(agent1 agent2) 4)" 465 496)
  ("(relativeX(agent1 agent2) 3)" 496 508)
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  ("(relativeX(agent1 agent2) 3)" 562 578)
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  ("(relativeX(agent1 agent2) 3)" 596 611)
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  ("(relativeX(agent1 agent2) 2)" 707 724)
  ("(relativeX(agent1 agent2) 1)" 724 751)
  ("(relativeX(agent1 agent2) 2)" 751 765)
  ("(relativeX(agent1 agent2) 3)" 765 778)
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  ("(relativeX(agent1 agent2) 2)" 819 835)
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  ("(relativeX(agent1 agent2) 3)" 872 885)
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  ("(relativeX(agent1 agent2) 2)" 969 987)
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  ("(relativeX(agent1 agent2) 2)" 1016 1034)
  ("(relativeX(agent1 agent2) 1)" 1034 1062)
  ("(relativeX(agent1 agent2) 2)" 1062 1077)
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  ("(relativeX(agent1 agent2) 4)" 1095 1106)
  ("(relativeX(agent1 agent2) 3)" 1106 1123)
  ("(relativeX(agent1 agent2) 2)" 1123 1140)
  ("(relativeX(agent1 agent2) 1)" 1140 1164)
  ("(relativeX(agent1 agent2) 2)" 1164 1179)
  ("(relativeX(agent1 agent2) 3)" 1179 1192)
  ("(relativeX(agent1 agent2) 4)" 1192 1222)
  ("(relativeX(agent1 agent2) 3)" 1222 1233)
  ("(relativeX(agent1 agent2) 2)" 1233 1249)
  ("(relativeX(agent1 agent2) 1)" 1249 1271)
  ("(relativeX(agent1 agent2) 2)" 1271 1284)
  ("(relativeX(agent1 agent2) 3)" 1284 1294)
  ("(relativeX(agent1 agent2) 4)" 1294 1334)
  ("(relativeX(agent1 agent2) 3)" 1334 1344)
  ("(relativeX(agent1 agent2) 2)" 1344 1361)
  ("(relativeX(agent1 agent2) 1)" 1361 1371)
  ("(relativeX(agent1 agent2) 2)" 1371 1388)
  ("(relativeX(agent1 agent2) 3)" 1388 1399)
  ("(relativeX(agent1 agent2) 4)" 1399 1431)
  ("(relativeX(agent1 agent2) 3)" 1431 1441)
  ("(relativeX(agent1 agent2) 2)" 1441 1459)
  ("(relativeX(agent1 agent2) 1)" 1459 1471)
  ("(relativeX(agent1 agent2) 2)" 1471 1486)
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  ("(relativeX(agent1 agent2) 5)" 1509 1530)
  ("(relativeX(agent1 agent2) 4)" 1530 1543)
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  ("(relativeX(agent1 agent2) 2)" 1552 1593)
  ("(relativeX(agent1 agent2) 3)" 1593 1602)
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  ("(relativeX(agent1 agent2) 5)" 1615 1640)
  ("(relativeX(agent1 agent2) 4)" 1640 1652)
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  ("(relativeX(agent1 agent2) 2)" 1661 1679)
  ("(relativeX(agent1 agent2) 1)" 1679 1686)
  ("(relativeX(agent1 agent2) 2)" 1686 1702)
  ("(relativeX(agent1 agent2) 3)" 1702 1710)
  ("(relativeX(agent1 agent2) 4)" 1710 1722)
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  ("(relativeX(agent1 agent2) 4)" 1757 1767)
  ("(relativeX(agent1 agent2) 3)" 1767 1776)
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  ("(relativeX(agent1 agent2) 1)" 1794 1800)
  ("(relativeX(agent1 agent2) 2)" 1800 1816)
  ("(relativeX(agent1 agent2) 3)" 1816 1825)
  ("(relativeX(agent1 agent2) 4)" 1825 1838)
  ("(relativeX(agent1 agent2) 5)" 1838 1864)
  ("(relativeX(agent1 agent2) 4)" 1864 1876)
  ("(relativeX(agent1 agent2) 3)" 1876 1885)
  ("(relativeX(agent1 agent2) 2)" 1885 1905)
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  ("(relativeX(agent1 agent2) 2)" 1907 1926)
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  ("(relativeX(agent1 agent2) 2)" 1990 2008)
  ("(relativeX(agent1 agent2) 1)" 2008 2017)
  ("(relativeX(agent1 agent2) 2)" 2017 2034)
  ("(relativeX(agent1 agent2) 3)" 2034 2044)
  ("(relativeX(agent1 agent2) 4)" 2044 2081)
  ("(relativeX(agent1 agent2) 3)" 2081 2091)
  ("(relativeX(agent1 agent2) 2)" 2091 2109)
  ("(relativeX(agent1 agent2) 1)" 2109 2117)
  ("(relativeX(agent1 agent2) 2)" 2117 2134)
  ("(relativeX(agent1 agent2) 3)" 2134 2142)
  ("(relativeX(agent1 agent2) 4)" 2142 2156)
  ("(relativeX(agent1 agent2) 5)" 2156 2179)
  ("(relativeX(agent1 agent2) 4)" 2179 2192)
  ("(relativeX(agent1 agent2) 3)" 2192 2201)
  ("(relativeX(agent1 agent2) 2)" 2201 2239)
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  ("(relativeX(agent1 agent2) 4)" 2247 2257)
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  ("(relativeX(agent1 agent2) 4)" 2295 2304)
  ("(relativeX(agent1 agent2) 3)" 2304 2313)
  ("(relativeX(agent1 agent2) 2)" 2313 2326)
  ("(relativeX(agent1 agent2) 1)" 2326 2350)
  ("(relativeX(agent1 agent2) 2)" 2350 2373)
  ("(relativeX(agent1 agent2) up)" 235 321)
  ("(relativeX(agent1 agent2) stable)" 321 322)
  ("(relativeX(agent1 agent2) down)" 322 370)
  ("(relativeX(agent1 agent2) up)" 370 427)
  ("(relativeX(agent1 agent2) stable)" 427 428)
  ("(relativeX(agent1 agent2) down)" 428 481)
  ("(relativeX(agent1 agent2) stable)" 481 482)
  ("(relativeX(agent1 agent2) up)" 482 536)
  ("(relativeX(agent1 agent2) stable)" 536 537)
  ("(relativeX(agent1 agent2) down)" 537 587)
  ("(relativeX(agent1 agent2) stable)" 587 588)
  ("(relativeX(agent1 agent2) up)" 588 640)
  ("(relativeX(agent1 agent2) down)" 640 689)
  ("(relativeX(agent1 agent2) up)" 689 738)
  ("(relativeX(agent1 agent2) stable)" 738 739)
  ("(relativeX(agent1 agent2) down)" 739 793)
  ("(relativeX(agent1 agent2) stable)" 793 794)
  ("(relativeX(agent1 agent2) up)" 794 847)
  ("(relativeX(agent1 agent2) stable)" 847 848)
  ("(relativeX(agent1 agent2) down)" 848 901)
  ("(relativeX(agent1 agent2) stable)" 901 902)
  ("(relativeX(agent1 agent2) up)" 902 956)
  ("(relativeX(agent1 agent2) stable)" 956 957)
  ("(relativeX(agent1 agent2) down)" 957 1002)
  ("(relativeX(agent1 agent2) stable)" 1002 1003)
  ("(relativeX(agent1 agent2) up)" 1003 1049)
  ("(relativeX(agent1 agent2) stable)" 1049 1050)
  ("(relativeX(agent1 agent2) down)" 1050 1101)
  ("(relativeX(agent1 agent2) stable)" 1101 1102)
  ("(relativeX(agent1 agent2) up)" 1102 1152)
  ("(relativeX(agent1 agent2) stable)" 1152 1153)
  ("(relativeX(agent1 agent2) down)" 1153 1207)
  ("(relativeX(agent1 agent2) stable)" 1207 1208)
  ("(relativeX(agent1 agent2) up)" 1208 1261)
  ("(relativeX(agent1 agent2) down)" 1261 1315)
  ("(relativeX(agent1 agent2) stable)" 1315 1316)
  ("(relativeX(agent1 agent2) up)" 1316 1366)
  ("(relativeX(agent1 agent2) stable)" 1366 1367)
  ("(relativeX(agent1 agent2) down)" 1367 1416)
  ("(relativeX(agent1 agent2) up)" 1416 1465)
  ("(relativeX(agent1 agent2) stable)" 1465 1466)
  ("(relativeX(agent1 agent2) down)" 1466 1520)
  ("(relativeX(agent1 agent2) up)" 1520 1574)
  ("(relativeX(agent1 agent2) stable)" 1574 1575)
  ("(relativeX(agent1 agent2) down)" 1575 1628)
  ("(relativeX(agent1 agent2) stable)" 1628 1629)
  ("(relativeX(agent1 agent2) up)" 1629 1683)
  ("(relativeX(agent1 agent2) stable)" 1683 1684)
  ("(relativeX(agent1 agent2) down)" 1684 1739)
  ("(relativeX(agent1 agent2) stable)" 1739 1740)
  ("(relativeX(agent1 agent2) up)" 1740 1797)
  ("(relativeX(agent1 agent2) stable)" 1797 1798)
  ("(relativeX(agent1 agent2) down)" 1798 1851)
  ("(relativeX(agent1 agent2) stable)" 1851 1852)
  ("(relativeX(agent1 agent2) up)" 1852 1906)
  ("(relativeX(agent1 agent2) stable)" 1906 1907)
  ("(relativeX(agent1 agent2) down)" 1907 1959)
  ("(relativeX(agent1 agent2) up)" 1959 2013)
  ("(relativeX(agent1 agent2) down)" 2013 2063)
  ("(relativeX(agent1 agent2) stable)" 2063 2064)
  ("(relativeX(agent1 agent2) up)" 2064 2113)
  ("(relativeX(agent1 agent2) stable)" 2113 2114)
  ("(relativeX(agent1 agent2) down)" 2114 2168)
  ("(relativeX(agent1 agent2) up)" 2168 2221)
  ("(relativeX(agent1 agent2) stable)" 2221 2222)
  ("(relativeX(agent1 agent2) down)" 2222 2277)
  ("(relativeX(agent1 agent2) up)" 2277 2338)
  ("(relativeX(agent1 agent2) stable)" 2338 2339)
  ("(relativeX(agent1 agent2) down)" 2339 2373)
  ("(relativeY(agent1 agent2) 1)" 234 299)
  ("(relativeY(agent1 agent2) 2)" 299 306)
  ("(relativeY(agent1 agent2) 3)" 306 315)
  ("(relativeY(agent1 agent2) 4)" 315 347)
  ("(relativeY(agent1 agent2) 3)" 347 408)
  ("(relativeY(agent1 agent2) 4)" 408 431)
  ("(relativeY(agent1 agent2) 3)" 431 449)
  ("(relativeY(agent1 agent2) 2)" 449 472)
  ("(relativeY(agent1 agent2) 1)" 472 487)
  ("(relativeY(agent1 agent2) 2)" 487 509)
  ("(relativeY(agent1 agent2) 3)" 509 528)
  ("(relativeY(agent1 agent2) 4)" 528 548)
  ("(relativeY(agent1 agent2) 3)" 548 570)
  ("(relativeY(agent1 agent2) 2)" 570 604)
  ("(relativeY(agent1 agent2) 3)" 604 625)
  ("(relativeY(agent1 agent2) 4)" 625 658)
  ("(relativeY(agent1 agent2) 3)" 658 715)
  ("(relativeY(agent1 agent2) 4)" 715 762)
  ("(relativeY(agent1 agent2) 3)" 762 822)
  ("(relativeY(agent1 agent2) 4)" 822 872)
  ("(relativeY(agent1 agent2) 3)" 872 926)
  ("(relativeY(agent1 agent2) 4)" 926 997)
  ("(relativeY(agent1 agent2) 3)" 997 1007)
  ("(relativeY(agent1 agent2) 4)" 1007 1085)
  ("(relativeY(agent1 agent2) 3)" 1085 1115)
  ("(relativeY(agent1 agent2) 4)" 1115 1188)
  ("(relativeY(agent1 agent2) 3)" 1188 1225)
  ("(relativeY(agent1 agent2) 4)" 1225 1292)
  ("(relativeY(agent1 agent2) 3)" 1292 1335)
  ("(relativeY(agent1 agent2) 4)" 1335 1397)
  ("(relativeY(agent1 agent2) 3)" 1397 1433)
  ("(relativeY(agent1 agent2) 4)" 1433 1492)
  ("(relativeY(agent1 agent2) 3)" 1492 1545)
  ("(relativeY(agent1 agent2) 4)" 1545 1599)
  ("(relativeY(agent1 agent2) 3)" 1599 1656)
  ("(relativeY(agent1 agent2) 4)" 1656 1705)
  ("(relativeY(agent1 agent2) 3)" 1705 1736)
  ("(relativeY(agent1 agent2) 2)" 1736 1742)
  ("(relativeY(agent1 agent2) 3)" 1742 1771)
  ("(relativeY(agent1 agent2) 4)" 1771 1819)
  ("(relativeY(agent1 agent2) 3)" 1819 1848)
  ("(relativeY(agent1 agent2) 2)" 1848 1855)
  ("(relativeY(agent1 agent2) 3)" 1855 1884)
  ("(relativeY(agent1 agent2) 4)" 1884 1925)
  ("(relativeY(agent1 agent2) 3)" 1925 1952)
  ("(relativeY(agent1 agent2) 2)" 1952 1964)
  ("(relativeY(agent1 agent2) 3)" 1964 1990)
  ("(relativeY(agent1 agent2) 4)" 1990 2033)
  ("(relativeY(agent1 agent2) 3)" 2033 2094)
  ("(relativeY(agent1 agent2) 4)" 2094 2129)
  ("(relativeY(agent1 agent2) 3)" 2129 2149)
  ("(relativeY(agent1 agent2) 2)" 2149 2185)
  ("(relativeY(agent1 agent2) 3)" 2185 2204)
  ("(relativeY(agent1 agent2) 4)" 2204 2235)
  ("(relativeY(agent1 agent2) 3)" 2235 2251)
  ("(relativeY(agent1 agent2) 2)" 2251 2302)
  ("(relativeY(agent1 agent2) 3)" 2302 2324)
  ("(relativeY(agent1 agent2) 4)" 2324 2331)
  ("(relativeY(agent1 agent2) 3)" 2331 2349)
  ("(relativeY(agent1 agent2) 2)" 2349 2363)
  ("(relativeY(agent1 agent2) 1)" 2363 2373)
  ("(relativeY(agent1 agent2) down)" 235 329)
  ("(relativeY(agent1 agent2) stable)" 329 330)
  ("(relativeY(agent1 agent2) up)" 330 375)
  ("(relativeY(agent1 agent2) stable)" 375 377)
  ("(relativeY(agent1 agent2) down)" 377 420)
  ("(relativeY(agent1 agent2) stable)" 420 421)
  ("(relativeY(agent1 agent2) up)" 421 480)
  ("(relativeY(agent1 agent2) stable)" 480 481)
  ("(relativeY(agent1 agent2) down)" 481 538)
  ("(relativeY(agent1 agent2) stable)" 538 539)
  ("(relativeY(agent1 agent2) up)" 539 587)
  ("(relativeY(agent1 agent2) stable)" 587 588)
  ("(relativeY(agent1 agent2) down)" 588 641)
  ("(relativeY(agent1 agent2) stable)" 641 642)
  ("(relativeY(agent1 agent2) up)" 642 687)
  ("(relativeY(agent1 agent2) stable)" 687 689)
  ("(relativeY(agent1 agent2) down)" 689 739)
  ("(relativeY(agent1 agent2) stable)" 739 741)
  ("(relativeY(agent1 agent2) up)" 741 792)
  ("(relativeY(agent1 agent2) stable)" 792 794)
  ("(relativeY(agent1 agent2) down)" 794 847)
  ("(relativeY(agent1 agent2) stable)" 847 849)
  ("(relativeY(agent1 agent2) up)" 849 900)
  ("(relativeY(agent1 agent2) stable)" 900 902)
  ("(relativeY(agent1 agent2) down)" 902 956)
  ("(relativeY(agent1 agent2) stable)" 956 958)
  ("(relativeY(agent1 agent2) up)" 958 1001)
  ("(relativeY(agent1 agent2) stable)" 1001 1004)
  ("(relativeY(agent1 agent2) down)" 1004 1048)
  ("(relativeY(agent1 agent2) stable)" 1048 1051)
  ("(relativeY(agent1 agent2) up)" 1051 1100)
  ("(relativeY(agent1 agent2) stable)" 1100 1102)
  ("(relativeY(agent1 agent2) down)" 1102 1152)
  ("(relativeY(agent1 agent2) stable)" 1152 1154)
  ("(relativeY(agent1 agent2) up)" 1154 1206)
  ("(relativeY(agent1 agent2) stable)" 1206 1209)
  ("(relativeY(agent1 agent2) down)" 1209 1260)
  ("(relativeY(agent1 agent2) stable)" 1260 1262)
  ("(relativeY(agent1 agent2) up)" 1262 1314)
  ("(relativeY(agent1 agent2) stable)" 1314 1316)
  ("(relativeY(agent1 agent2) down)" 1316 1366)
  ("(relativeY(agent1 agent2) stable)" 1366 1368)
  ("(relativeY(agent1 agent2) up)" 1368 1415)
  ("(relativeY(agent1 agent2) stable)" 1415 1417)
  ("(relativeY(agent1 agent2) down)" 1417 1464)
  ("(relativeY(agent1 agent2) stable)" 1464 1466)
  ("(relativeY(agent1 agent2) up)" 1466 1519)
  ("(relativeY(agent1 agent2) stable)" 1519 1521)
  ("(relativeY(agent1 agent2) down)" 1521 1573)
  ("(relativeY(agent1 agent2) stable)" 1573 1575)
  ("(relativeY(agent1 agent2) up)" 1575 1628)
  ("(relativeY(agent1 agent2) stable)" 1628 1630)
  ("(relativeY(agent1 agent2) down)" 1630 1682)
  ("(relativeY(agent1 agent2) stable)" 1682 1683)
  ("(relativeY(agent1 agent2) up)" 1683 1738)
  ("(relativeY(agent1 agent2) stable)" 1738 1740)
  ("(relativeY(agent1 agent2) down)" 1740 1796)
  ("(relativeY(agent1 agent2) stable)" 1796 1797)
  ("(relativeY(agent1 agent2) up)" 1797 1851)
  ("(relativeY(agent1 agent2) stable)" 1851 1853)
  ("(relativeY(agent1 agent2) down)" 1853 1905)
  ("(relativeY(agent1 agent2) stable)" 1905 1906)
  ("(relativeY(agent1 agent2) up)" 1906 1958)
  ("(relativeY(agent1 agent2) stable)" 1958 1959)
  ("(relativeY(agent1 agent2) down)" 1959 2012)
  ("(relativeY(agent1 agent2) stable)" 2012 2013)
  ("(relativeY(agent1 agent2) up)" 2013 2063)
  ("(relativeY(agent1 agent2) stable)" 2063 2065)
  ("(relativeY(agent1 agent2) down)" 2065 2112)
  ("(relativeY(agent1 agent2) stable)" 2112 2114)
  ("(relativeY(agent1 agent2) up)" 2114 2167)
  ("(relativeY(agent1 agent2) stable)" 2167 2168)
  ("(relativeY(agent1 agent2) down)" 2168 2220)
  ("(relativeY(agent1 agent2) stable)" 2220 2221)
  ("(relativeY(agent1 agent2) up)" 2221 2277)
  ("(relativeY(agent1 agent2) stable)" 2277 2278)
  ("(relativeY(agent1 agent2) down)" 2278 2327)
  ("(relativeY(agent1 agent2) stable)" 2327 2328)
  ("(relativeY(agent1 agent2) up)" 2328 2373)
  ("(x(wall3) 3)" 104 2373)
  ("(x(wall3) stable)" 105 2373)
  ("(y(wall3) 3)" 104 2373)
  ("(y(wall3) stable)" 105 2373)
  ("(speed(wall3) 3)" 104 2373)
  ("(speed(wall3) stable)" 105 2373)
  ("(heading(wall3) 3)" 129 2348)
  ("(heading(wall3) stable)" 130 2348)
  ("novel(agent1 wall3)" 80 160)
  ("(distance(agent1 wall3) 1)" 104 198)
  ("(distance(agent1 wall3) 2)" 198 219)
  ("(distance(agent1 wall3) 3)" 219 243)
  ("(distance(agent1 wall3) 4)" 243 283)
  ("(distance(agent1 wall3) 5)" 283 861)
  ("(distance(agent1 wall3) 4)" 861 1305)
  ("(distance(agent1 wall3) 3)" 1305 1614)
  ("(distance(agent1 wall3) 2)" 1614 2031)
  ("(distance(agent1 wall3) 1)" 2031 2373)
  ("(distance(agent1 wall3) down)" 105 332)
  ("(distance(agent1 wall3) stable)" 332 390)
  ("(distance(agent1 wall3) down)" 390 406)
  ("(distance(agent1 wall3) stable)" 406 430)
  ("(distance(agent1 wall3) up)" 430 476)
  ("(distance(agent1 wall3) stable)" 476 496)
  ("(distance(agent1 wall3) down)" 496 522)
  ("(distance(agent1 wall3) stable)" 522 542)
  ("(distance(agent1 wall3) up)" 542 586)
  ("(distance(agent1 wall3) stable)" 586 609)
  ("(distance(agent1 wall3) down)" 609 611)
  ("(distance(agent1 wall3) stable)" 611 612)
  ("(distance(agent1 wall3) down)" 612 613)
  ("(distance(agent1 wall3) stable)" 613 644)
  ("(distance(agent1 wall3) up)" 644 689)
  ("(distance(agent1 wall3) stable)" 689 741)
  ("(distance(agent1 wall3) up)" 741 795)
  ("(distance(agent1 wall3) stable)" 795 848)
  ("(distance(agent1 wall3) up)" 848 905)
  ("(distance(agent1 wall3) stable)" 905 957)
  ("(distance(agent1 wall3) up)" 957 1006)
  ("(distance(agent1 wall3) stable)" 1006 1048)
  ("(distance(agent1 wall3) up)" 1048 1107)
  ("(distance(agent1 wall3) stable)" 1107 1152)
  ("(distance(agent1 wall3) up)" 1152 1213)
  ("(distance(agent1 wall3) stable)" 1213 1259)
  ("(distance(agent1 wall3) up)" 1259 1324)
  ("(distance(agent1 wall3) stable)" 1324 1362)
  ("(distance(agent1 wall3) up)" 1362 1425)
  ("(distance(agent1 wall3) stable)" 1425 1461)
  ("(distance(agent1 wall3) up)" 1461 1529)
  ("(distance(agent1 wall3) stable)" 1529 1570)
  ("(distance(agent1 wall3) up)" 1570 1636)
  ("(distance(agent1 wall3) stable)" 1636 1679)
  ("(distance(agent1 wall3) up)" 1679 1748)
  ("(distance(agent1 wall3) stable)" 1748 1794)
  ("(distance(agent1 wall3) up)" 1794 1858)
  ("(distance(agent1 wall3) stable)" 1858 1903)
  ("(distance(agent1 wall3) up)" 1903 1965)
  ("(distance(agent1 wall3) stable)" 1965 2011)
  ("(distance(agent1 wall3) up)" 2011 2068)
  ("(distance(agent1 wall3) stable)" 2068 2112)
  ("(distance(agent1 wall3) up)" 2112 2173)
  ("(distance(agent1 wall3) stable)" 2173 2220)
  ("(distance(agent1 wall3) up)" 2220 2282)
  ("(distance(agent1 wall3) stable)" 2282 2300)
  ("(distance(agent1 wall3) down)" 2300 2308)
  ("(distance(agent1 wall3) stable)" 2308 2332)
  ("(distance(agent1 wall3) up)" 2332 2369)
  ("(distance(agent1 wall3) stable)" 2369 2373)
  ("(relativeX(agent1 wall3) 5)" 104 266)
  ("(relativeX(agent1 wall3) 4)" 266 284)
  ("(relativeX(agent1 wall3) 3)" 284 304)
  ("(relativeX(agent1 wall3) 2)" 304 339)
  ("(relativeX(agent1 wall3) 3)" 339 399)
  ("(relativeX(agent1 wall3) 2)" 399 453)
  ("(relativeX(agent1 wall3) 3)" 453 507)
  ("(relativeX(agent1 wall3) 2)" 507 564)
  ("(relativeX(agent1 wall3) 3)" 564 609)
  ("(relativeX(agent1 wall3) 2)" 609 670)
  ("(relativeX(agent1 wall3) 3)" 670 706)
  ("(relativeX(agent1 wall3) 2)" 706 767)
  ("(relativeX(agent1 wall3) 3)" 767 817)
  ("(relativeX(agent1 wall3) 2)" 817 874)
  ("(relativeX(agent1 wall3) 3)" 874 926)
  ("(relativeX(agent1 wall3) 2)" 926 991)
  ("(relativeX(agent1 wall3) 3)" 991 1012)
  ("(relativeX(agent1 wall3) 2)" 1012 1080)
  ("(relativeX(agent1 wall3) 3)" 1080 1120)
  ("(relativeX(agent1 wall3) 2)" 1120 1181)
  ("(relativeX(agent1 wall3) 3)" 1181 1231)
  ("(relativeX(agent1 wall3) 2)" 1231 1287)
  ("(relativeX(agent1 wall3) 3)" 1287 1340)
  ("(relativeX(agent1 wall3) 2)" 1340 1392)
  ("(relativeX(agent1 wall3) 3)" 1392 1437)
  ("(relativeX(agent1 wall3) 2)" 1437 1490)
  ("(relativeX(agent1 wall3) 3)" 1490 1548)
  ("(relativeX(agent1 wall3) 2)" 1548 1597)
  ("(relativeX(agent1 wall3) 3)" 1597 1657)
  ("(relativeX(agent1 wall3) 2)" 1657 1706)
  ("(relativeX(agent1 wall3) 3)" 1706 1771)
  ("(relativeX(agent1 wall3) 2)" 1771 1821)
  ("(relativeX(agent1 wall3) 3)" 1821 1879)
  ("(relativeX(agent1 wall3) 2)" 1879 1931)
  ("(relativeX(agent1 wall3) 3)" 1931 1984)
  ("(relativeX(agent1 wall3) 2)" 1984 2041)
  ("(relativeX(agent1 wall3) 3)" 2041 2083)
  ("(relativeX(agent1 wall3) 2)" 2083 2140)
  ("(relativeX(agent1 wall3) 3)" 2140 2194)
  ("(relativeX(agent1 wall3) 2)" 2194 2246)
  ("(relativeX(agent1 wall3) 3)" 2246 2305)
  ("(relativeX(agent1 wall3) 2)" 2305 2365)
  ("(relativeX(agent1 wall3) 3)" 2365 2373)
  ("(relativeX(agent1 wall3) up)" 105 320)
  ("(relativeX(agent1 wall3) stable)" 320 323)
  ("(relativeX(agent1 wall3) down)" 323 369)
  ("(relativeX(agent1 wall3) stable)" 369 372)
  ("(relativeX(agent1 wall3) up)" 372 426)
  ("(relativeX(agent1 wall3) stable)" 426 429)
  ("(relativeX(agent1 wall3) down)" 429 480)
  ("(relativeX(agent1 wall3) stable)" 480 483)
  ("(relativeX(agent1 wall3) up)" 483 535)
  ("(relativeX(agent1 wall3) stable)" 535 538)
  ("(relativeX(agent1 wall3) down)" 538 586)
  ("(relativeX(agent1 wall3) stable)" 586 589)
  ("(relativeX(agent1 wall3) up)" 589 638)
  ("(relativeX(agent1 wall3) stable)" 638 642)
  ("(relativeX(agent1 wall3) down)" 642 687)
  ("(relativeX(agent1 wall3) stable)" 687 691)
  ("(relativeX(agent1 wall3) up)" 691 737)
  ("(relativeX(agent1 wall3) stable)" 737 740)
  ("(relativeX(agent1 wall3) down)" 740 792)
  ("(relativeX(agent1 wall3) stable)" 792 795)
  ("(relativeX(agent1 wall3) up)" 795 846)
  ("(relativeX(agent1 wall3) stable)" 846 849)
  ("(relativeX(agent1 wall3) down)" 849 900)
  ("(relativeX(agent1 wall3) stable)" 900 903)
  ("(relativeX(agent1 wall3) up)" 903 955)
  ("(relativeX(agent1 wall3) stable)" 955 958)
  ("(relativeX(agent1 wall3) down)" 958 1001)
  ("(relativeX(agent1 wall3) stable)" 1001 1004)
  ("(relativeX(agent1 wall3) up)" 1004 1047)
  ("(relativeX(agent1 wall3) stable)" 1047 1051)
  ("(relativeX(agent1 wall3) down)" 1051 1100)
  ("(relativeX(agent1 wall3) stable)" 1100 1103)
  ("(relativeX(agent1 wall3) up)" 1103 1151)
  ("(relativeX(agent1 wall3) stable)" 1151 1154)
  ("(relativeX(agent1 wall3) down)" 1154 1206)
  ("(relativeX(agent1 wall3) stable)" 1206 1209)
  ("(relativeX(agent1 wall3) up)" 1209 1260)
  ("(relativeX(agent1 wall3) stable)" 1260 1263)
  ("(relativeX(agent1 wall3) down)" 1263 1314)
  ("(relativeX(agent1 wall3) stable)" 1314 1317)
  ("(relativeX(agent1 wall3) up)" 1317 1366)
  ("(relativeX(agent1 wall3) stable)" 1366 1368)
  ("(relativeX(agent1 wall3) down)" 1368 1415)
  ("(relativeX(agent1 wall3) stable)" 1415 1417)
  ("(relativeX(agent1 wall3) up)" 1417 1464)
  ("(relativeX(agent1 wall3) stable)" 1464 1467)
  ("(relativeX(agent1 wall3) down)" 1467 1519)
  ("(relativeX(agent1 wall3) stable)" 1519 1521)
  ("(relativeX(agent1 wall3) up)" 1521 1573)
  ("(relativeX(agent1 wall3) stable)" 1573 1575)
  ("(relativeX(agent1 wall3) down)" 1575 1627)
  ("(relativeX(agent1 wall3) stable)" 1627 1629)
  ("(relativeX(agent1 wall3) up)" 1629 1682)
  ("(relativeX(agent1 wall3) stable)" 1682 1685)
  ("(relativeX(agent1 wall3) down)" 1685 1739)
  ("(relativeX(agent1 wall3) stable)" 1739 1741)
  ("(relativeX(agent1 wall3) up)" 1741 1796)
  ("(relativeX(agent1 wall3) stable)" 1796 1799)
  ("(relativeX(agent1 wall3) down)" 1799 1850)
  ("(relativeX(agent1 wall3) stable)" 1850 1853)
  ("(relativeX(agent1 wall3) up)" 1853 1905)
  ("(relativeX(agent1 wall3) stable)" 1905 1908)
  ("(relativeX(agent1 wall3) down)" 1908 1958)
  ("(relativeX(agent1 wall3) stable)" 1958 1960)
  ("(relativeX(agent1 wall3) up)" 1960 2012)
  ("(relativeX(agent1 wall3) stable)" 2012 2014)
  ("(relativeX(agent1 wall3) down)" 2014 2062)
  ("(relativeX(agent1 wall3) stable)" 2062 2065)
  ("(relativeX(agent1 wall3) up)" 2065 2112)
  ("(relativeX(agent1 wall3) stable)" 2112 2115)
  ("(relativeX(agent1 wall3) down)" 2115 2167)
  ("(relativeX(agent1 wall3) stable)" 2167 2169)
  ("(relativeX(agent1 wall3) up)" 2169 2221)
  ("(relativeX(agent1 wall3) stable)" 2221 2223)
  ("(relativeX(agent1 wall3) down)" 2223 2276)
  ("(relativeX(agent1 wall3) stable)" 2276 2278)
  ("(relativeX(agent1 wall3) up)" 2278 2333)
  ("(relativeX(agent1 wall3) stable)" 2333 2335)
  ("(relativeX(agent1 wall3) down)" 2335 2373)
  ("(relativeY(agent1 wall3) 1)" 104 198)
  ("(relativeY(agent1 wall3) 2)" 198 219)
  ("(relativeY(agent1 wall3) 3)" 219 243)
  ("(relativeY(agent1 wall3) 4)" 243 283)
  ("(relativeY(agent1 wall3) 5)" 283 861)
  ("(relativeY(agent1 wall3) 4)" 861 1305)
  ("(relativeY(agent1 wall3) 3)" 1305 1614)
  ("(relativeY(agent1 wall3) 2)" 1614 2031)
  ("(relativeY(agent1 wall3) 1)" 2031 2373)
  ("(relativeY(agent1 wall3) down)" 105 332)
  ("(relativeY(agent1 wall3) stable)" 332 389)
  ("(relativeY(agent1 wall3) down)" 389 405)
  ("(relativeY(agent1 wall3) stable)" 405 430)
  ("(relativeY(agent1 wall3) up)" 430 476)
  ("(relativeY(agent1 wall3) stable)" 476 496)
  ("(relativeY(agent1 wall3) down)" 496 522)
  ("(relativeY(agent1 wall3) stable)" 522 542)
  ("(relativeY(agent1 wall3) up)" 542 586)
  ("(relativeY(agent1 wall3) stable)" 586 609)
  ("(relativeY(agent1 wall3) down)" 609 612)
  ("(relativeY(agent1 wall3) stable)" 612 644)
  ("(relativeY(agent1 wall3) up)" 644 689)
  ("(relativeY(agent1 wall3) stable)" 689 741)
  ("(relativeY(agent1 wall3) up)" 741 795)
  ("(relativeY(agent1 wall3) stable)" 795 848)
  ("(relativeY(agent1 wall3) up)" 848 905)
  ("(relativeY(agent1 wall3) stable)" 905 957)
  ("(relativeY(agent1 wall3) up)" 957 1006)
  ("(relativeY(agent1 wall3) stable)" 1006 1049)
  ("(relativeY(agent1 wall3) up)" 1049 1107)
  ("(relativeY(agent1 wall3) stable)" 1107 1152)
  ("(relativeY(agent1 wall3) up)" 1152 1213)
  ("(relativeY(agent1 wall3) stable)" 1213 1259)
  ("(relativeY(agent1 wall3) up)" 1259 1324)
  ("(relativeY(agent1 wall3) stable)" 1324 1362)
  ("(relativeY(agent1 wall3) up)" 1362 1424)
  ("(relativeY(agent1 wall3) stable)" 1424 1461)
  ("(relativeY(agent1 wall3) up)" 1461 1529)
  ("(relativeY(agent1 wall3) stable)" 1529 1570)
  ("(relativeY(agent1 wall3) up)" 1570 1636)
  ("(relativeY(agent1 wall3) stable)" 1636 1679)
  ("(relativeY(agent1 wall3) up)" 1679 1748)
  ("(relativeY(agent1 wall3) stable)" 1748 1794)
  ("(relativeY(agent1 wall3) up)" 1794 1858)
  ("(relativeY(agent1 wall3) stable)" 1858 1903)
  ("(relativeY(agent1 wall3) up)" 1903 1965)
  ("(relativeY(agent1 wall3) stable)" 1965 2011)
  ("(relativeY(agent1 wall3) up)" 2011 2068)
  ("(relativeY(agent1 wall3) stable)" 2068 2112)
  ("(relativeY(agent1 wall3) up)" 2112 2173)
  ("(relativeY(agent1 wall3) stable)" 2173 2220)
  ("(relativeY(agent1 wall3) up)" 2220 2282)
  ("(relativeY(agent1 wall3) stable)" 2282 2300)
  ("(relativeY(agent1 wall3) down)" 2300 2309)
  ("(relativeY(agent1 wall3) stable)" 2309 2332)
  ("(relativeY(agent1 wall3) up)" 2332 2369)
  ("(relativeY(agent1 wall3) stable)" 2369 2373)
 ))
(5
 (
  ("(x(agent1) 1)" 25 467)
  ("(x(agent1) 2)" 467 588)
  ("(x(agent1) 3)" 588 691)
  ("(x(agent1) 4)" 691 1260)
  ("(x(agent1) 3)" 1260 1577)
  ("(x(agent1) 4)" 1577 2381)
  ("(x(agent1) down)" 26 769)
  ("(x(agent1) stable)" 769 813)
  ("(x(agent1) up)" 813 819)
  ("(x(agent1) stable)" 819 871)
  ("(x(agent1) down)" 871 888)
  ("(x(agent1) stable)" 888 1142)
  ("(x(agent1) up)" 1142 1366)
  ("(x(agent1) stable)" 1366 1474)
  ("(x(agent1) down)" 1474 1751)
  ("(x(agent1) stable)" 1751 2381)
  ("(y(agent1) 4)" 25 61)
  ("(y(agent1) 5)" 61 812)
  ("(y(agent1) 4)" 812 1319)
  ("(y(agent1) 3)" 1319 1427)
  ("(y(agent1) 2)" 1427 1558)
  ("(y(agent1) 1)" 1558 2381)
  ("(y(agent1) stable)" 26 39)
  ("(y(agent1) down)" 39 125)
  ("(y(agent1) stable)" 125 747)
  ("(y(agent1) up)" 747 848)
  ("(y(agent1) stable)" 848 1148)
  ("(y(agent1) up)" 1148 1684)
  ("(y(agent1) stable)" 1684 1711)
  ("(y(agent1) down)" 1711 1787)
  ("(y(agent1) stable)" 1787 1817)
  ("(y(agent1) up)" 1817 1926)
  ("(y(agent1) stable)" 1926 1974)
  ("(y(agent1) up)" 1974 2005)
  ("(y(agent1) stable)" 2005 2030)
  ("(y(agent1) down)" 2030 2050)
  ("(y(agent1) stable)" 2050 2076)
  ("(y(agent1) up)" 2076 2108)
  ("(y(agent1) stable)" 2108 2132)
  ("(y(agent1) down)" 2132 2162)
  ("(y(agent1) stable)" 2162 2186)
  ("(y(agent1) up)" 2186 2210)
  ("(y(agent1) stable)" 2210 2235)
  ("(y(agent1) down)" 2235 2259)
  ("(y(agent1) stable)" 2259 2283)
  ("(y(agent1) up)" 2283 2315)
  ("(y(agent1) stable)" 2315 2339)
  ("(y(agent1) down)" 2339 2369)
  ("(y(agent1) stable)" 2369 2381)
  ("(speed(agent1) 5)" 25 27)
  ("(speed(agent1) 4)" 27 47)
  ("(speed(agent1) 3)" 47 75)
  ("(speed(agent1) 2)" 75 170)
  ("(speed(agent1) 1)" 170 720)
  ("(speed(agent1) 2)" 720 742)
  ("(speed(agent1) 3)" 742 757)
  ("(speed(agent1) 4)" 757 842)
  ("(speed(agent1) 5)" 842 1150)
  ("(speed(agent1) 4)" 1150 1169)
  ("(speed(agent1) 3)" 1169 1193)
  ("(speed(agent1) 2)" 1193 1265)
  ("(speed(agent1) 1)" 1265 1664)
  ("(speed(agent1) 2)" 1664 1721)
  ("(speed(agent1) 3)" 1721 1766)
  ("(speed(agent1) 4)" 1766 1790)
  ("(speed(agent1) 5)" 1790 1834)
  ("(speed(agent1) 4)" 1834 1922)
  ("(speed(agent1) 5)" 1922 1971)
  ("(speed(agent1) 4)" 1971 1984)
  ("(speed(agent1) 5)" 1984 2044)
  ("(speed(agent1) 4)" 2044 2093)
  ("(speed(agent1) 5)" 2093 2142)
  ("(speed(agent1) 4)" 2142 2192)
  ("(speed(agent1) 5)" 2192 2249)
  ("(speed(agent1) 4)" 2249 2300)
  ("(speed(agent1) 5)" 2300 2349)
  ("(speed(agent1) 4)" 2349 2381)
  ("(speed(agent1) up)" 26 232)
  ("(speed(agent1) stable)" 232 243)
  ("(speed(agent1) up)" 243 246)
  ("(speed(agent1) stable)" 246 706)
  ("(speed(agent1) down)" 706 779)
  ("(speed(agent1) stable)" 779 780)
  ("(speed(agent1) down)" 780 781)
  ("(speed(agent1) stable)" 781 783)
  ("(speed(agent1) up)" 783 812)
  ("(speed(agent1) down)" 812 870)
  ("(speed(agent1) stable)" 870 875)
  ("(speed(agent1) up)" 875 876)
  ("(speed(agent1) stable)" 876 881)
  ("(speed(agent1) down)" 881 943)
  ("(speed(agent1) stable)" 943 948)
  ("(speed(agent1) down)" 948 949)
  ("(speed(agent1) stable)" 949 1102)
  ("(speed(agent1) up)" 1102 1322)
  ("(speed(agent1) stable)" 1322 1618)
  ("(speed(agent1) down)" 1618 1812)
  ("(speed(agent1) stable)" 1812 1813)
  ("(speed(agent1) up)" 1813 1844)
  ("(speed(agent1) stable)" 1844 1845)
  ("(speed(agent1) down)" 1845 1848)
  ("(speed(agent1) up)" 1848 1897)
  ("(speed(agent1) stable)" 1897 1899)
  ("(speed(agent1) down)" 1899 1947)
  ("(speed(agent1) stable)" 1947 1948)
  ("(speed(agent1) up)" 1948 1977)
  ("(speed(agent1) stable)" 1977 1978)
  ("(speed(agent1) down)" 1978 2022)
  ("(speed(agent1) stable)" 2022 2023)
  ("(speed(agent1) up)" 2023 2073)
  ("(speed(agent1) stable)" 2073 2074)
  ("(speed(agent1) down)" 2074 2124)
  ("(speed(agent1) stable)" 2124 2125)
  ("(speed(agent1) up)" 2125 2176)
  ("(speed(agent1) stable)" 2176 2177)
  ("(speed(agent1) down)" 2177 2227)
  ("(speed(agent1) stable)" 2227 2228)
  ("(speed(agent1) up)" 2228 2280)
  ("(speed(agent1) stable)" 2280 2281)
  ("(speed(agent1) down)" 2281 2331)
  ("(speed(agent1) stable)" 2331 2332)
  ("(speed(agent1) up)" 2332 2381)
  ("(heading(agent1) 3)" 50 854)
  ("(heading(agent1) 2)" 854 970)
  ("(heading(agent1) 1)" 970 1082)
  ("(heading(agent1) 5)" 1082 1590)
  ("(heading(agent1) 4)" 1590 1669)
  ("(heading(agent1) 3)" 1669 1712)
  ("(heading(agent1) 2)" 1712 1763)
  ("(heading(agent1) 1)" 1763 2356)
  ("(heading(agent1) down)" 51 183)
  ("(heading(agent1) stable)" 183 184)
  ("(heading(agent1) down)" 184 196)
  ("(heading(agent1) stable)" 196 202)
  ("(heading(agent1) down)" 202 209)
  ("(heading(agent1) stable)" 209 221)
  ("(heading(agent1) down)" 221 222)
  ("(heading(agent1) stable)" 222 707)
  ("(heading(agent1) up)" 707 1823)
  ("(heading(agent1) stable)" 1823 1835)
  ("(heading(agent1) down)" 1835 1910)
  ("(heading(agent1) stable)" 1910 1917)
  ("(heading(agent1) up)" 1917 2007)
  ("(heading(agent1) stable)" 2007 2019)
  ("(heading(agent1) down)" 2019 2104)
  ("(heading(agent1) stable)" 2104 2356)
  ("(energy(agent1) 2)" 25 1824)
  ("(energy(agent1) 3)" 1824 1939)
  ("(energy(agent1) 4)" 1939 2039)
  ("(energy(agent1) 5)" 2039 2381)
  ("(energy(agent1) stable)" 26 1800)
  ("(energy(agent1) down)" 1800 1900)
  ("(energy(agent1) stable)" 1900 1936)
  ("(energy(agent1) down)" 1936 1987)
  ("(energy(agent1) stable)" 1987 2037)
  ("(energy(agent1) down)" 2037 2088)
  ("(energy(agent1) stable)" 2088 2145)
  ("(energy(agent1) down)" 2145 2196)
  ("(energy(agent1) stable)" 2196 2244)
  ("(energy(agent1) down)" 2244 2295)
  ("(energy(agent1) stable)" 2295 2352)
  ("(energy(agent1) down)" 2352 2381)
  ("(arousal(agent1) 2)" 25 281)
  ("(arousal(agent1) 3)" 281 536)
  ("(arousal(agent1) 4)" 536 645)
  ("(arousal(agent1) 3)" 645 776)
  ("(arousal(agent1) 4)" 776 1077)
  ("(arousal(agent1) 5)" 1077 1579)
  ("(arousal(agent1) 4)" 1579 1851)
  ("(arousal(agent1) 3)" 1851 1907)
  ("(arousal(agent1) 2)" 1907 1973)
  ("(arousal(agent1) 1)" 1973 2381)
  ("(arousal(agent1) down)" 26 592)
  ("(arousal(agent1) stable)" 592 610)
  ("(arousal(agent1) up)" 610 690)
  ("(arousal(agent1) stable)" 690 708)
  ("(arousal(agent1) down)" 708 1239)
  ("(arousal(agent1) stable)" 1239 1403)
  ("(arousal(agent1) up)" 1403 1496)
  ("(arousal(agent1) stable)" 1496 1514)
  ("(arousal(agent1) down)" 1514 1535)
  ("(arousal(agent1) stable)" 1535 1551)
  ("(arousal(agent1) up)" 1551 1632)
  ("(arousal(agent1) stable)" 1632 1649)
  ("(arousal(agent1) down)" 1649 1665)
  ("(arousal(agent1) stable)" 1665 1682)
  ("(arousal(agent1) up)" 1682 1762)
  ("(arousal(agent1) stable)" 1762 1780)
  ("(arousal(agent1) down)" 1780 1799)
  ("(arousal(agent1) up)" 1799 1986)
  ("(arousal(agent1) stable)" 1986 1999)
  ("(arousal(agent1) down)" 1999 2036)
  ("(arousal(agent1) up)" 2036 2087)
  ("(arousal(agent1) down)" 2087 2111)
  ("(arousal(agent1) stable)" 2111 2127)
  ("(arousal(agent1) up)" 2127 2207)
  ("(arousal(agent1) stable)" 2207 2225)
  ("(arousal(agent1) down)" 2225 2243)
  ("(arousal(agent1) up)" 2243 2294)
  ("(arousal(agent1) down)" 2294 2318)
  ("(arousal(agent1) stable)" 2318 2334)
  ("(arousal(agent1) up)" 2334 2381)
  ("(valence(agent1) 4)" 25 1829)
  ("(valence(agent1) 3)" 1829 1946)
  ("(valence(agent1) 2)" 1946 1975)
  ("(valence(agent1) 1)" 1975 2381)
  ("(valence(agent1) stable)" 26 1799)
  ("(valence(agent1) up)" 1799 1899)
  ("(valence(agent1) down)" 1899 1935)
  ("(valence(agent1) up)" 1935 1986)
  ("(valence(agent1) down)" 1986 2036)
  ("(valence(agent1) up)" 2036 2087)
  ("(valence(agent1) down)" 2087 2144)
  ("(valence(agent1) up)" 2144 2195)
  ("(valence(agent1) down)" 2195 2243)
  ("(valence(agent1) up)" 2243 2294)
  ("(valence(agent1) down)" 2294 2351)
  ("(valence(agent1) up)" 2351 2381)
  ("(goal(agent1) WanderGoal)" 0 1551)
  ("(goal(agent1) PursueGoal)" 1551 2406)
  ("(state(agent1) wander)" 0 1551)
  ("(state(agent1) charge)" 1551 1824)
  ("(state(agent1) back-away)" 1824 1857)
  ("(state(agent1) charge)" 1857 1873)
  ("(state(agent1) back-away)" 1873 1907)
  ("(state(agent1) charge)" 1907 1959)
  ("(state(agent1) back-away)" 1959 1993)
  ("(state(agent1) charge)" 1993 2060)
  ("(state(agent1) back-away)" 2060 2094)
  ("(state(agent1) charge)" 2094 2168)
  ("(state(agent1) back-away)" 2168 2198)
  ("(state(agent1) charge)" 2198 2267)
  ("(state(agent1) back-away)" 2267 2301)
  ("(state(agent1) charge)" 2301 2375)
  ("(state(agent1) back-away)" 2375 2406)
  ("(x(agent2) 1)" 1575 1603)
  ("(x(agent2) 2)" 1603 1611)
  ("(x(agent2) 3)" 1611 1618)
  ("(x(agent2) 4)" 1618 1629)
  ("(x(agent2) 5)" 1629 1697)
  ("(x(agent2) 4)" 1697 1707)
  ("(x(agent2) 3)" 1707 1715)
  ("(x(agent2) 2)" 1715 1723)
  ("(x(agent2) 5)" 1870 1977)
  ("(x(agent2) 4)" 1977 1991)
  ("(x(agent2) 3)" 1991 2008)
  ("(x(agent2) 2)" 2008 2044)
  ("(x(agent2) 3)" 2044 2091)
  ("(x(agent2) 2)" 2091 2215)
  ("(x(agent2) 1)" 2215 2229)
  ("(x(agent2) 2)" 2229 2307)
  ("(x(agent2) 1)" 2307 2352)
  ("(x(agent2) 2)" 2352 2381)
  ("(x(agent2) down)" 1576 1665)
  ("(x(agent2) stable)" 1665 1666)
  ("(x(agent2) up)" 1666 1723)
  ("(x(agent2) up)" 1871 1878)
  ("(x(agent2) stable)" 1878 1879)
  ("(x(agent2) down)" 1879 1930)
  ("(x(agent2) stable)" 1930 1931)
  ("(x(agent2) up)" 1931 2024)
  ("(x(agent2) stable)" 2024 2026)
  ("(x(agent2) down)" 2026 2068)
  ("(x(agent2) stable)" 2068 2071)
  ("(x(agent2) up)" 2071 2125)
  ("(x(agent2) stable)" 2125 2128)
  ("(x(agent2) down)" 2128 2165)
  ("(x(agent2) stable)" 2165 2168)
  ("(x(agent2) up)" 2168 2222)
  ("(x(agent2) stable)" 2222 2224)
  ("(x(agent2) down)" 2224 2272)
  ("(x(agent2) stable)" 2272 2274)
  ("(x(agent2) up)" 2274 2329)
  ("(x(agent2) stable)" 2329 2331)
  ("(x(agent2) down)" 2331 2378)
  ("(x(agent2) stable)" 2378 2380)
  ("(x(agent2) up)" 2380 2381)
  ("(y(agent2) 1)" 1575 1642)
  ("(y(agent2) 2)" 1642 1654)
  ("(y(agent2) 3)" 1654 1664)
  ("(y(agent2) 4)" 1664 1676)
  ("(y(agent2) 5)" 1676 1723)
  ("(y(agent2) 5)" 1870 1879)
  ("(y(agent2) 4)" 1879 1938)
  ("(y(agent2) 3)" 1938 2005)
  ("(y(agent2) 4)" 2005 2025)
  ("(y(agent2) 3)" 2025 2097)
  ("(y(agent2) 4)" 2097 2141)
  ("(y(agent2) 3)" 2141 2210)
  ("(y(agent2) 4)" 2210 2234)
  ("(y(agent2) 3)" 2234 2304)
  ("(y(agent2) 4)" 2304 2348)
  ("(y(agent2) 3)" 2348 2381)
  ("(y(agent2) down)" 1576 1721)
  ("(y(agent2) stable)" 1721 1723)
  ("(y(agent2) up)" 1871 1969)
  ("(y(agent2) stable)" 1969 1971)
  ("(y(agent2) down)" 1971 2015)
  ("(y(agent2) stable)" 2015 2017)
  ("(y(agent2) up)" 2017 2064)
  ("(y(agent2) stable)" 2064 2066)
  ("(y(agent2) down)" 2066 2119)
  ("(y(agent2) stable)" 2119 2121)
  ("(y(agent2) up)" 2121 2173)
  ("(y(agent2) stable)" 2173 2175)
  ("(y(agent2) down)" 2175 2222)
  ("(y(agent2) stable)" 2222 2224)
  ("(y(agent2) up)" 2224 2271)
  ("(y(agent2) stable)" 2271 2273)
  ("(y(agent2) down)" 2273 2326)
  ("(y(agent2) stable)" 2326 2328)
  ("(y(agent2) up)" 2328 2380)
  ("(y(agent2) stable)" 2380 2381)
  ("(speed(agent2) 1)" 1575 1696)
  ("(speed(agent2) 2)" 1696 1706)
  ("(speed(agent2) 3)" 1706 1717)
  ("(speed(agent2) 4)" 1717 1723)
  ("(speed(agent2) 4)" 1870 1895)
  ("(speed(agent2) 5)" 1895 1912)
  ("(speed(agent2) 4)" 1912 1967)
  ("(speed(agent2) 3)" 1967 1972)
  ("(speed(agent2) 4)" 1972 2016)
  ("(speed(agent2) 5)" 2016 2025)
  ("(speed(agent2) 4)" 2025 2055)
  ("(speed(agent2) 3)" 2055 2084)
  ("(speed(agent2) 4)" 2084 2119)
  ("(speed(agent2) 5)" 2119 2129)
  ("(speed(agent2) 4)" 2129 2148)
  ("(speed(agent2) 3)" 2148 2188)
  ("(speed(agent2) 4)" 2188 2220)
  ("(speed(agent2) 5)" 2220 2233)
  ("(speed(agent2) 4)" 2233 2260)
  ("(speed(agent2) 3)" 2260 2291)
  ("(speed(agent2) 4)" 2291 2326)
  ("(speed(agent2) 5)" 2326 2336)
  ("(speed(agent2) 4)" 2336 2355)
  ("(speed(agent2) 3)" 2355 2381)
  ("(speed(agent2) up)" 1576 1659)
  ("(speed(agent2) down)" 1659 1723)
  ("(speed(agent2) up)" 1871 1884)
  ("(speed(agent2) stable)" 1884 1885)
  ("(speed(agent2) down)" 1885 1902)
  ("(speed(agent2) stable)" 1902 1903)
  ("(speed(agent2) up)" 1903 1935)
  ("(speed(agent2) down)" 1935 1938)
  ("(speed(agent2) up)" 1938 1970)
  ("(speed(agent2) stable)" 1970 1971)
  ("(speed(agent2) down)" 1971 2021)
  ("(speed(agent2) stable)" 2021 2022)
  ("(speed(agent2) up)" 2022 2073)
  ("(speed(agent2) stable)" 2073 2074)
  ("(speed(agent2) down)" 2074 2124)
  ("(speed(agent2) stable)" 2124 2125)
  ("(speed(agent2) up)" 2125 2176)
  ("(speed(agent2) stable)" 2176 2177)
  ("(speed(agent2) down)" 2177 2227)
  ("(speed(agent2) stable)" 2227 2228)
  ("(speed(agent2) up)" 2228 2280)
  ("(speed(agent2) stable)" 2280 2281)
  ("(speed(agent2) down)" 2281 2331)
  ("(speed(agent2) stable)" 2331 2332)
  ("(speed(agent2) up)" 2332 2381)
  ("(heading(agent2) 1)" 1600 1698)
  ("(heading(agent2) 5)" 1895 1908)
  ("(heading(agent2) 4)" 1908 1971)
  ("(heading(agent2) 3)" 1971 2026)
  ("(heading(agent2) 4)" 2026 2356)
  ("(heading(agent2) up)" 1601 1698)
  ("(heading(agent2) up)" 1896 2001)
  ("(heading(agent2) stable)" 2001 2011)
  ("(heading(agent2) down)" 2011 2087)
  ("(heading(agent2) stable)" 2087 2091)
  ("(heading(agent2) down)" 2091 2105)
  ("(heading(agent2) stable)" 2105 2121)
  ("(heading(agent2) up)" 2121 2160)
  ("(heading(agent2) stable)" 2160 2176)
  ("(heading(agent2) up)" 2176 2179)
  ("(heading(agent2) stable)" 2179 2237)
  ("(heading(agent2) down)" 2237 2257)
  ("(heading(agent2) stable)" 2257 2343)
  ("(heading(agent2) up)" 2343 2356)
  ("heard(agent1 agent2)" 2333 2406)
  ("heard(agent1 agent2)" 2126 2317)
  ("heard(agent1 agent2)" 1714 2109)
  ("heard(agent1 agent2)" 1681 1707)
  ("novel(agent1 agent2)" 2334 2406)
  ("novel(agent1 agent2)" 2127 2207)
  ("novel(agent1 agent2)" 1846 1926)
  ("novel(agent1 agent2)" 1682 1762)
  ("novel(agent1 agent2)" 1551 1632)
  ("collision(agent1 agent2)" 2375 2377)
  ("collision(agent1 agent2)" 2267 2270)
  ("collision(agent1 agent2)" 2168 2171)
  ("collision(agent1 agent2)" 2060 2063)
  ("collision(agent1 agent2)" 1959 1961)
  ("collision(agent1 agent2)" 1873 1876)
  ("collision(agent1 agent2)" 1824 1826)
  ("(distance(agent1 agent2) 1)" 1575 1665)
  ("(distance(agent1 agent2) 2)" 1665 1716)
  ("(distance(agent1 agent2) 3)" 1716 1744)
  ("(distance(agent1 agent2) 4)" 1744 1829)
  ("(distance(agent1 agent2) 5)" 1829 1869)
  ("(distance(agent1 agent2) 4)" 1869 1994)
  ("(distance(agent1 agent2) 3)" 1994 2037)
  ("(distance(agent1 agent2) 4)" 2037 2089)
  ("(distance(agent1 agent2) 3)" 2089 2149)
  ("(distance(agent1 agent2) 4)" 2149 2198)
  ("(distance(agent1 agent2) 3)" 2198 2245)
  ("(distance(agent1 agent2) 4)" 2245 2296)
  ("(distance(agent1 agent2) 3)" 2296 2356)
  ("(distance(agent1 agent2) 4)" 2356 2381)
  ("(distance(agent1 agent2) down)" 1576 1839)
  ("(distance(agent1 agent2) stable)" 1839 1860)
  ("(distance(agent1 agent2) up)" 1860 1924)
  ("(distance(agent1 agent2) stable)" 1924 1926)
  ("(distance(agent1 agent2) down)" 1926 1963)
  ("(distance(agent1 agent2) stable)" 1963 1965)
  ("(distance(agent1 agent2) up)" 1965 2016)
  ("(distance(agent1 agent2) stable)" 2016 2018)
  ("(distance(agent1 agent2) down)" 2018 2064)
  ("(distance(agent1 agent2) stable)" 2064 2066)
  ("(distance(agent1 agent2) up)" 2066 2119)
  ("(distance(agent1 agent2) stable)" 2119 2121)
  ("(distance(agent1 agent2) down)" 2121 2173)
  ("(distance(agent1 agent2) stable)" 2173 2175)
  ("(distance(agent1 agent2) up)" 2175 2222)
  ("(distance(agent1 agent2) stable)" 2222 2224)
  ("(distance(agent1 agent2) down)" 2224 2272)
  ("(distance(agent1 agent2) stable)" 2272 2273)
  ("(distance(agent1 agent2) up)" 2273 2326)
  ("(distance(agent1 agent2) stable)" 2326 2328)
  ("(distance(agent1 agent2) down)" 2328 2380)
  ("(distance(agent1 agent2) stable)" 2380 2381)
  ("(relativeX(agent1 agent2) 1)" 1575 1689)
  ("(relativeX(agent1 agent2) 2)" 1689 1707)
  ("(relativeX(agent1 agent2) 3)" 1707 1723)
  ("(relativeX(agent1 agent2) 4)" 1870 2381)
  ("(relativeX(agent1 agent2) down)" 1576 1723)
  ("(relativeX(agent1 agent2) down)" 1871 1886)
  ("(relativeX(agent1 agent2) stable)" 1886 1923)
  ("(relativeX(agent1 agent2) down)" 1923 2007)
  ("(relativeX(agent1 agent2) stable)" 2007 2015)
  ("(relativeX(agent1 agent2) up)" 2015 2071)
  ("(relativeX(agent1 agent2) stable)" 2071 2079)
  ("(relativeX(agent1 agent2) down)" 2079 2118)
  ("(relativeX(agent1 agent2) stable)" 2118 2131)
  ("(relativeX(agent1 agent2) up)" 2131 2161)
  ("(relativeX(agent1 agent2) stable)" 2161 2174)
  ("(relativeX(agent1 agent2) down)" 2174 2217)
  ("(relativeX(agent1 agent2) stable)" 2217 2226)
  ("(relativeX(agent1 agent2) up)" 2226 2269)
  ("(relativeX(agent1 agent2) stable)" 2269 2279)
  ("(relativeX(agent1 agent2) down)" 2279 2323)
  ("(relativeX(agent1 agent2) stable)" 2323 2333)
  ("(relativeX(agent1 agent2) up)" 2333 2375)
  ("(relativeX(agent1 agent2) stable)" 2375 2381)
  ("(relativeY(agent1 agent2) 5)" 1575 1650)
  ("(relativeY(agent1 agent2) 4)" 1650 1665)
  ("(relativeY(agent1 agent2) 3)" 1665 1680)
  ("(relativeY(agent1 agent2) 2)" 1680 1723)
  ("(relativeY(agent1 agent2) 3)" 1870 1915)
  ("(relativeY(agent1 agent2) 2)" 1915 1933)
  ("(relativeY(agent1 agent2) 3)" 1933 1987)
  ("(relativeY(agent1 agent2) 2)" 1987 2045)
  ("(relativeY(agent1 agent2) 3)" 2045 2082)
  ("(relativeY(agent1 agent2) 2)" 2082 2157)
  ("(relativeY(agent1 agent2) 3)" 2157 2191)
  ("(relativeY(agent1 agent2) 2)" 2191 2253)
  ("(relativeY(agent1 agent2) 3)" 2253 2289)
  ("(relativeY(agent1 agent2) 2)" 2289 2364)
  ("(relativeY(agent1 agent2) 3)" 2364 2381)
  ("(relativeY(agent1 agent2) up)" 1576 1711)
  ("(relativeY(agent1 agent2) stable)" 1711 1713)
  ("(relativeY(agent1 agent2) down)" 1713 1723)
  ("(relativeY(agent1 agent2) up)" 1871 1923)
  ("(relativeY(agent1 agent2) stable)" 1923 1926)
  ("(relativeY(agent1 agent2) down)" 1926 1963)
  ("(relativeY(agent1 agent2) stable)" 1963 1966)
  ("(relativeY(agent1 agent2) up)" 1966 2016)
  ("(relativeY(agent1 agent2) stable)" 2016 2018)
  ("(relativeY(agent1 agent2) down)" 2018 2064)
  ("(relativeY(agent1 agent2) stable)" 2064 2066)
  ("(relativeY(agent1 agent2) up)" 2066 2119)
  ("(relativeY(agent1 agent2) stable)" 2119 2121)
  ("(relativeY(agent1 agent2) down)" 2121 2173)
  ("(relativeY(agent1 agent2) stable)" 2173 2175)
  ("(relativeY(agent1 agent2) up)" 2175 2222)
  ("(relativeY(agent1 agent2) stable)" 2222 2224)
  ("(relativeY(agent1 agent2) down)" 2224 2271)
  ("(relativeY(agent1 agent2) stable)" 2271 2273)
  ("(relativeY(agent1 agent2) up)" 2273 2326)
  ("(relativeY(agent1 agent2) stable)" 2326 2328)
  ("(relativeY(agent1 agent2) down)" 2328 2380)
  ("(relativeY(agent1 agent2) stable)" 2380 2381)
  ("(x(wall1) 3)" 633 947)
  ("(x(wall1) 3)" 1439 1834)
  ("(x(wall1) 3)" 1893 2381)
  ("(x(wall1) stable)" 634 947)
  ("(x(wall1) stable)" 1440 1834)
  ("(x(wall1) stable)" 1894 2381)
  ("(y(wall1) 3)" 633 947)
  ("(y(wall1) 3)" 1439 1834)
  ("(y(wall1) 3)" 1893 2381)
  ("(y(wall1) stable)" 634 947)
  ("(y(wall1) stable)" 1440 1834)
  ("(y(wall1) stable)" 1894 2381)
  ("(speed(wall1) 3)" 633 947)
  ("(speed(wall1) 3)" 1439 1834)
  ("(speed(wall1) 3)" 1893 2381)
  ("(speed(wall1) stable)" 634 947)
  ("(speed(wall1) stable)" 1440 1834)
  ("(speed(wall1) stable)" 1894 2381)
  ("(heading(wall1) 3)" 658 922)
  ("(heading(wall1) 3)" 1464 1809)
  ("(heading(wall1) 3)" 1918 2356)
  ("(heading(wall1) stable)" 659 922)
  ("(heading(wall1) stable)" 1465 1809)
  ("(heading(wall1) stable)" 1919 2356)
  ("novel(agent1 wall1)" 1869 1950)
  ("novel(agent1 wall1)" 1415 1496)
  ("novel(agent1 wall1)" 609 689)
  ("collision(agent1 wall1)" 1962 1999)
  ("(distance(agent1 wall1) 1)" 633 715)
  ("(distance(agent1 wall1) 2)" 715 756)
  ("(distance(agent1 wall1) 3)" 756 821)
  ("(distance(agent1 wall1) 2)" 821 871)
  ("(distance(agent1 wall1) 3)" 871 947)
  ("(distance(agent1 wall1) 1)" 1439 1619)
  ("(distance(agent1 wall1) 2)" 1619 1663)
  ("(distance(agent1 wall1) 3)" 1663 1695)
  ("(distance(agent1 wall1) 4)" 1695 1749)
  ("(distance(agent1 wall1) 5)" 1749 1782)
  ("(distance(agent1 wall1) 4)" 1782 1834)
  ("(distance(agent1 wall1) 5)" 1893 2046)
  ("(distance(agent1 wall1) 4)" 2046 2381)
  ("(distance(agent1 wall1) down)" 634 780)
  ("(distance(agent1 wall1) stable)" 780 789)
  ("(distance(agent1 wall1) up)" 789 842)
  ("(distance(agent1 wall1) stable)" 842 851)
  ("(distance(agent1 wall1) down)" 851 916)
  ("(distance(agent1 wall1) stable)" 916 947)
  ("(distance(agent1 wall1) down)" 1440 1761)
  ("(distance(agent1 wall1) stable)" 1761 1769)
  ("(distance(agent1 wall1) up)" 1769 1819)
  ("(distance(agent1 wall1) stable)" 1819 1834)
  ("(distance(agent1 wall1) down)" 1894 1943)
  ("(distance(agent1 wall1) stable)" 1943 2004)
  ("(distance(agent1 wall1) up)" 2004 2067)
  ("(distance(agent1 wall1) stable)" 2067 2191)
  ("(distance(agent1 wall1) down)" 2191 2199)
  ("(distance(agent1 wall1) stable)" 2199 2238)
  ("(distance(agent1 wall1) up)" 2238 2255)
  ("(distance(agent1 wall1) stable)" 2255 2344)
  ("(distance(agent1 wall1) up)" 2344 2361)
  ("(distance(agent1 wall1) stable)" 2361 2381)
  ("(relativeX(agent1 wall1) 1)" 633 715)
  ("(relativeX(agent1 wall1) 2)" 715 756)
  ("(relativeX(agent1 wall1) 3)" 756 821)
  ("(relativeX(agent1 wall1) 2)" 821 871)
  ("(relativeX(agent1 wall1) 3)" 871 947)
  ("(relativeX(agent1 wall1) 1)" 1439 1619)
  ("(relativeX(agent1 wall1) 2)" 1619 1663)
  ("(relativeX(agent1 wall1) 3)" 1663 1695)
  ("(relativeX(agent1 wall1) 4)" 1695 1749)
  ("(relativeX(agent1 wall1) 5)" 1749 1782)
  ("(relativeX(agent1 wall1) 4)" 1782 1834)
  ("(relativeX(agent1 wall1) 5)" 1893 2046)
  ("(relativeX(agent1 wall1) 4)" 2046 2381)
  ("(relativeX(agent1 wall1) down)" 634 780)
  ("(relativeX(agent1 wall1) stable)" 780 789)
  ("(relativeX(agent1 wall1) up)" 789 842)
  ("(relativeX(agent1 wall1) stable)" 842 851)
  ("(relativeX(agent1 wall1) down)" 851 916)
  ("(relativeX(agent1 wall1) stable)" 916 947)
  ("(relativeX(agent1 wall1) down)" 1440 1761)
  ("(relativeX(agent1 wall1) stable)" 1761 1769)
  ("(relativeX(agent1 wall1) up)" 1769 1819)
  ("(relativeX(agent1 wall1) stable)" 1819 1834)
  ("(relativeX(agent1 wall1) down)" 1894 1943)
  ("(relativeX(agent1 wall1) stable)" 1943 2004)
  ("(relativeX(agent1 wall1) up)" 2004 2067)
  ("(relativeX(agent1 wall1) stable)" 2067 2191)
  ("(relativeX(agent1 wall1) down)" 2191 2199)
  ("(relativeX(agent1 wall1) stable)" 2199 2238)
  ("(relativeX(agent1 wall1) up)" 2238 2255)
  ("(relativeX(agent1 wall1) stable)" 2255 2344)
  ("(relativeX(agent1 wall1) up)" 2344 2361)
  ("(relativeX(agent1 wall1) stable)" 2361 2381)
  ("(relativeY(agent1 wall1) 5)" 633 947)
  ("(relativeY(agent1 wall1) 4)" 1439 1460)
  ("(relativeY(agent1 wall1) 3)" 1460 1566)
  ("(relativeY(agent1 wall1) 2)" 1566 1834)
  ("(relativeY(agent1 wall1) 2)" 1893 2381)
  ("(relativeY(agent1 wall1) stable)" 634 746)
  ("(relativeY(agent1 wall1) up)" 746 849)
  ("(relativeY(agent1 wall1) stable)" 849 947)
  ("(relativeY(agent1 wall1) up)" 1440 1685)
  ("(relativeY(agent1 wall1) stable)" 1685 1710)
  ("(relativeY(agent1 wall1) down)" 1710 1788)
  ("(relativeY(agent1 wall1) stable)" 1788 1816)
  ("(relativeY(agent1 wall1) up)" 1816 1834)
  ("(relativeY(agent1 wall1) up)" 1894 1926)
  ("(relativeY(agent1 wall1) stable)" 1926 1973)
  ("(relativeY(agent1 wall1) up)" 1973 2006)
  ("(relativeY(agent1 wall1) stable)" 2006 2029)
  ("(relativeY(agent1 wall1) down)" 2029 2051)
  ("(relativeY(agent1 wall1) stable)" 2051 2075)
  ("(relativeY(agent1 wall1) up)" 2075 2109)
  ("(relativeY(agent1 wall1) stable)" 2109 2131)
  ("(relativeY(agent1 wall1) down)" 2131 2163)
  ("(relativeY(agent1 wall1) stable)" 2163 2186)
  ("(relativeY(agent1 wall1) up)" 2186 2211)
  ("(relativeY(agent1 wall1) stable)" 2211 2234)
  ("(relativeY(agent1 wall1) down)" 2234 2260)
  ("(relativeY(agent1 wall1) stable)" 2260 2283)
  ("(relativeY(agent1 wall1) up)" 2283 2316)
  ("(relativeY(agent1 wall1) stable)" 2316 2338)
  ("(relativeY(agent1 wall1) down)" 2338 2370)
  ("(relativeY(agent1 wall1) stable)" 2370 2381)
  ("(x(wall3) 3)" 25 1094)
  ("(x(wall3) stable)" 26 1094)
  ("(y(wall3) 3)" 25 1094)
  ("(y(wall3) stable)" 26 1094)
  ("(speed(wall3) 3)" 25 1094)
  ("(speed(wall3) stable)" 26 1094)
  ("(heading(wall3) 3)" 50 1069)
  ("(heading(wall3) stable)" 51 1069)
  ("(distance(agent1 wall3) 1)" 25 62)
  ("(distance(agent1 wall3) 2)" 62 102)
  ("(distance(agent1 wall3) 3)" 102 142)
  ("(distance(agent1 wall3) 4)" 142 244)
  ("(distance(agent1 wall3) 5)" 244 403)
  ("(distance(agent1 wall3) 4)" 403 769)
  ("(distance(agent1 wall3) 3)" 769 789)
  ("(distance(agent1 wall3) 2)" 789 811)
  ("(distance(agent1 wall3) 1)" 811 1094)
  ("(distance(agent1 wall3) down)" 26 266)
  ("(distance(agent1 wall3) stable)" 266 718)
  ("(distance(agent1 wall3) up)" 718 863)
  ("(distance(agent1 wall3) stable)" 863 866)
  ("(distance(agent1 wall3) down)" 866 937)
  ("(distance(agent1 wall3) stable)" 937 1094)
  ("(relativeX(agent1 wall3) 1)" 25 307)
  ("(relativeX(agent1 wall3) 2)" 307 447)
  ("(relativeX(agent1 wall3) 3)" 447 566)
  ("(relativeX(agent1 wall3) 4)" 566 706)
  ("(relativeX(agent1 wall3) 5)" 706 1094)
  ("(relativeX(agent1 wall3) down)" 26 767)
  ("(relativeX(agent1 wall3) stable)" 767 1094)
  ("(relativeY(agent1 wall3) 1)" 25 62)
  ("(relativeY(agent1 wall3) 2)" 62 102)
  ("(relativeY(agent1 wall3) 3)" 102 142)
  ("(relativeY(agent1 wall3) 4)" 142 244)
  ("(relativeY(agent1 wall3) 5)" 244 403)
  ("(relativeY(agent1 wall3) 4)" 403 769)
  ("(relativeY(agent1 wall3) 3)" 769 789)
  ("(relativeY(agent1 wall3) 2)" 789 811)
  ("(relativeY(agent1 wall3) 1)" 811 1094)
  ("(relativeY(agent1 wall3) down)" 26 266)
  ("(relativeY(agent1 wall3) stable)" 266 718)
  ("(relativeY(agent1 wall3) up)" 718 863)
  ("(relativeY(agent1 wall3) stable)" 863 866)
  ("(relativeY(agent1 wall3) down)" 866 937)
  ("(relativeY(agent1 wall3) stable)" 937 1094)
 ))
(6
 (
  ("(x(agent1) 1)" 25 629)
  ("(x(agent1) 2)" 629 744)
  ("(x(agent1) 3)" 744 852)
  ("(x(agent1) 4)" 852 1042)
  ("(x(agent1) 5)" 1042 1192)
  ("(x(agent1) 4)" 1192 2382)
  ("(x(agent1) up)" 26 237)
  ("(x(agent1) stable)" 237 354)
  ("(x(agent1) down)" 354 1068)
  ("(x(agent1) stable)" 1068 1167)
  ("(x(agent1) up)" 1167 1398)
  ("(x(agent1) stable)" 1398 1450)
  ("(x(agent1) down)" 1450 1576)
  ("(x(agent1) stable)" 1576 2382)
  ("(y(agent1) 3)" 25 162)
  ("(y(agent1) 2)" 162 300)
  ("(y(agent1) 1)" 300 979)
  ("(y(agent1) 2)" 979 1111)
  ("(y(agent1) 3)" 1111 1221)
  ("(y(agent1) 4)" 1221 1361)
  ("(y(agent1) 5)" 1361 2382)
  ("(y(agent1) stable)" 26 29)
  ("(y(agent1) up)" 29 562)
  ("(y(agent1) stable)" 562 707)
  ("(y(agent1) down)" 707 1384)
  ("(y(agent1) stable)" 1384 1496)
  ("(y(agent1) down)" 1496 1529)
  ("(y(agent1) stable)" 1529 1575)
  ("(y(agent1) down)" 1575 1614)
  ("(y(agent1) stable)" 1614 1638)
  ("(y(agent1) up)" 1638 1662)
  ("(y(agent1) stable)" 1662 1688)
  ("(y(agent1) down)" 1688 1713)
  ("(y(agent1) stable)" 1713 1739)
  ("(y(agent1) up)" 1739 1763)
  ("(y(agent1) stable)" 1763 1789)
  ("(y(agent1) down)" 1789 1814)
  ("(y(agent1) stable)" 1814 1839)
  ("(y(agent1) up)" 1839 1864)
  ("(y(agent1) stable)" 1864 1889)
  ("(y(agent1) down)" 1889 1919)
  ("(y(agent1) stable)" 1919 1944)
  ("(y(agent1) up)" 1944 1975)
  ("(y(agent1) stable)" 1975 1998)
  ("(y(agent1) down)" 1998 2029)
  ("(y(agent1) stable)" 2029 2054)
  ("(y(agent1) up)" 2054 2084)
  ("(y(agent1) stable)" 2084 2108)
  ("(y(agent1) down)" 2108 2131)
  ("(y(agent1) stable)" 2131 2157)
  ("(y(agent1) up)" 2157 2181)
  ("(y(agent1) stable)" 2181 2206)
  ("(y(agent1) down)" 2206 2236)
  ("(y(agent1) stable)" 2236 2261)
  ("(y(agent1) up)" 2261 2280)
  ("(y(agent1) stable)" 2280 2303)
  ("(y(agent1) down)" 2303 2344)
  ("(y(agent1) stable)" 2344 2362)
  ("(y(agent1) up)" 2362 2382)
  ("(speed(agent1) 5)" 25 32)
  ("(speed(agent1) 4)" 32 51)
  ("(speed(agent1) 3)" 51 75)
  ("(speed(agent1) 2)" 75 216)
  ("(speed(agent1) 1)" 216 386)
  ("(speed(agent1) 2)" 386 414)
  ("(speed(agent1) 3)" 414 460)
  ("(speed(agent1) 2)" 460 546)
  ("(speed(agent1) 1)" 546 1351)
  ("(speed(agent1) 2)" 1351 1367)
  ("(speed(agent1) 3)" 1367 1377)
  ("(speed(agent1) 4)" 1377 1388)
  ("(speed(agent1) 5)" 1388 1494)
  ("(speed(agent1) 4)" 1494 1547)
  ("(speed(agent1) 5)" 1547 1574)
  ("(speed(agent1) 4)" 1574 1587)
  ("(speed(agent1) 5)" 1587 1882)
  ("(speed(agent1) 4)" 1882 1887)
  ("(speed(agent1) 5)" 1887 2093)
  ("(speed(agent1) 4)" 2093 2102)
  ("(speed(agent1) 5)" 2102 2287)
  ("(speed(agent1) 4)" 2287 2330)
  ("(speed(agent1) 5)" 2330 2374)
  ("(speed(agent1) 4)" 2374 2382)
  ("(speed(agent1) up)" 26 115)
  ("(speed(agent1) stable)" 115 127)
  ("(speed(agent1) down)" 127 156)
  ("(speed(agent1) stable)" 156 160)
  ("(speed(agent1) up)" 160 233)
  ("(speed(agent1) stable)" 233 284)
  ("(speed(agent1) up)" 284 334)
  ("(speed(agent1) stable)" 334 372)
  ("(speed(agent1) down)" 372 432)
  ("(speed(agent1) stable)" 432 434)
  ("(speed(agent1) up)" 434 568)
  ("(speed(agent1) stable)" 568 619)
  ("(speed(agent1) up)" 619 671)
  ("(speed(agent1) stable)" 671 1328)
  ("(speed(agent1) down)" 1328 1408)
  ("(speed(agent1) stable)" 1408 1409)
  ("(speed(agent1) up)" 1409 1410)
  ("(speed(agent1) down)" 1410 1429)
  ("(speed(agent1) stable)" 1429 1431)
  ("(speed(agent1) up)" 1431 1505)
  ("(speed(agent1) stable)" 1505 1507)
  ("(speed(agent1) down)" 1507 1513)
  ("(speed(agent1) up)" 1513 1526)
  ("(speed(agent1) stable)" 1526 1532)
  ("(speed(agent1) down)" 1532 1558)
  ("(speed(agent1) stable)" 1558 1560)
  ("(speed(agent1) up)" 1560 1580)
  ("(speed(agent1) stable)" 1580 1581)
  ("(speed(agent1) down)" 1581 1630)
  ("(speed(agent1) stable)" 1630 1631)
  ("(speed(agent1) up)" 1631 1680)
  ("(speed(agent1) stable)" 1680 1681)
  ("(speed(agent1) down)" 1681 1731)
  ("(speed(agent1) stable)" 1731 1732)
  ("(speed(agent1) up)" 1732 1781)
  ("(speed(agent1) stable)" 1781 1782)
  ("(speed(agent1) down)" 1782 1832)
  ("(speed(agent1) up)" 1832 1885)
  ("(speed(agent1) down)" 1885 1936)
  ("(speed(agent1) stable)" 1936 1937)
  ("(speed(agent1) up)" 1937 1993)
  ("(speed(agent1) stable)" 1993 1994)
  ("(speed(agent1) down)" 1994 2046)
  ("(speed(agent1) stable)" 2046 2047)
  ("(speed(agent1) up)" 2047 2098)
  ("(speed(agent1) stable)" 2098 2099)
  ("(speed(agent1) down)" 2099 2149)
  ("(speed(agent1) stable)" 2149 2150)
  ("(speed(agent1) up)" 2150 2202)
  ("(speed(agent1) stable)" 2202 2203)
  ("(speed(agent1) down)" 2203 2253)
  ("(speed(agent1) stable)" 2253 2254)
  ("(speed(agent1) up)" 2254 2308)
  ("(speed(agent1) stable)" 2308 2309)
  ("(speed(agent1) down)" 2309 2357)
  ("(speed(agent1) stable)" 2357 2358)
  ("(speed(agent1) up)" 2358 2382)
  ("(heading(agent1) 5)" 50 221)
  ("(heading(agent1) 4)" 221 413)
  ("(heading(agent1) 3)" 413 553)
  ("(heading(agent1) 2)" 553 851)
  ("(heading(agent1) 1)" 851 1398)
  ("(heading(agent1) 5)" 1398 1560)
  ("(heading(agent1) 4)" 1560 2357)
  ("(heading(agent1) up)" 51 1198)
  ("(heading(agent1) stable)" 1198 1222)
  ("(heading(agent1) down)" 1222 1247)
  ("(heading(agent1) stable)" 1247 1289)
  ("(heading(agent1) up)" 1289 1653)
  ("(heading(agent1) stable)" 1653 2357)
  ("(energy(agent1) 2)" 25 1446)
  ("(energy(agent1) 3)" 1446 1562)
  ("(energy(agent1) 4)" 1562 1790)
  ("(energy(agent1) 5)" 1790 2382)
  ("(energy(agent1) stable)" 26 1411)
  ("(energy(agent1) down)" 1411 1462)
  ("(energy(agent1) stable)" 1462 1463)
  ("(energy(agent1) down)" 1463 1514)
  ("(energy(agent1) stable)" 1514 1542)
  ("(energy(agent1) down)" 1542 1593)
  ("(energy(agent1) stable)" 1593 1647)
  ("(energy(agent1) down)" 1647 1698)
  ("(energy(agent1) stable)" 1698 1748)
  ("(energy(agent1) down)" 1748 1799)
  ("(energy(agent1) stable)" 1799 1849)
  ("(energy(agent1) down)" 1849 1900)
  ("(energy(agent1) stable)" 1900 1958)
  ("(energy(agent1) down)" 1958 2009)
  ("(energy(agent1) stable)" 2009 2067)
  ("(energy(agent1) down)" 2067 2118)
  ("(energy(agent1) stable)" 2118 2166)
  ("(energy(agent1) down)" 2166 2217)
  ("(energy(agent1) stable)" 2217 2269)
  ("(energy(agent1) down)" 2269 2320)
  ("(energy(agent1) stable)" 2320 2376)
  ("(energy(agent1) down)" 2376 2382)
  ("(arousal(agent1) 3)" 25 207)
  ("(arousal(agent1) 4)" 207 284)
  ("(arousal(agent1) 3)" 284 453)
  ("(arousal(agent1) 4)" 453 837)
  ("(arousal(agent1) 5)" 837 1423)
  ("(arousal(agent1) 4)" 1423 1494)
  ("(arousal(agent1) 3)" 1494 1570)
  ("(arousal(agent1) 2)" 1570 1769)
  ("(arousal(agent1) 1)" 1769 2382)
  ("(arousal(agent1) down)" 26 239)
  ("(arousal(agent1) stable)" 239 260)
  ("(arousal(agent1) up)" 260 338)
  ("(arousal(agent1) stable)" 338 359)
  ("(arousal(agent1) down)" 359 1213)
  ("(arousal(agent1) stable)" 1213 1234)
  ("(arousal(agent1) up)" 1234 1461)
  ("(arousal(agent1) down)" 1461 1462)
  ("(arousal(agent1) up)" 1462 1592)
  ("(arousal(agent1) stable)" 1592 1600)
  ("(arousal(agent1) down)" 1600 1646)
  ("(arousal(agent1) up)" 1646 1697)
  ("(arousal(agent1) down)" 1697 1747)
  ("(arousal(agent1) up)" 1747 1798)
  ("(arousal(agent1) down)" 1798 1848)
  ("(arousal(agent1) up)" 1848 1899)
  ("(arousal(agent1) down)" 1899 1921)
  ("(arousal(agent1) stable)" 1921 1941)
  ("(arousal(agent1) up)" 1941 2008)
  ("(arousal(agent1) stable)" 2008 2132)
  ("(arousal(agent1) down)" 2132 2165)
  ("(arousal(agent1) stable)" 2165 2216)
  ("(arousal(agent1) down)" 2216 2232)
  ("(arousal(agent1) stable)" 2232 2254)
  ("(arousal(agent1) up)" 2254 2290)
  ("(arousal(agent1) stable)" 2290 2337)
  ("(arousal(agent1) down)" 2337 2351)
  ("(arousal(agent1) stable)" 2351 2382)
  ("(valence(agent1) 4)" 25 1450)
  ("(valence(agent1) 3)" 1450 1548)
  ("(valence(agent1) 2)" 1548 1654)
  ("(valence(agent1) 1)" 1654 2382)
  ("(valence(agent1) stable)" 26 1410)
  ("(valence(agent1) up)" 1410 1461)
  ("(valence(agent1) down)" 1461 1462)
  ("(valence(agent1) up)" 1462 1513)
  ("(valence(agent1) down)" 1513 1541)
  ("(valence(agent1) up)" 1541 1592)
  ("(valence(agent1) down)" 1592 1646)
  ("(valence(agent1) up)" 1646 1697)
  ("(valence(agent1) down)" 1697 1747)
  ("(valence(agent1) up)" 1747 1798)
  ("(valence(agent1) down)" 1798 1848)
  ("(valence(agent1) up)" 1848 1899)
  ("(valence(agent1) down)" 1899 1957)
  ("(valence(agent1) up)" 1957 2008)
  ("(valence(agent1) down)" 2008 2066)
  ("(valence(agent1) up)" 2066 2117)
  ("(valence(agent1) down)" 2117 2165)
  ("(valence(agent1) up)" 2165 2216)
  ("(valence(agent1) down)" 2216 2268)
  ("(valence(agent1) up)" 2268 2319)
  ("(valence(agent1) down)" 2319 2375)
  ("(valence(agent1) up)" 2375 2382)
  ("(goal(agent1) WanderGoal)" 0 1231)
  ("(goal(agent1) PursueGoal)" 1231 2407)
  ("(state(agent1) wander)" 0 1231)
  ("(state(agent1) charge)" 1231 1434)
  ("(state(agent1) back-away)" 1434 1463)
  ("(state(agent1) charge)" 1463 1487)
  ("(state(agent1) back-away)" 1487 1521)
  ("(state(agent1) charge)" 1521 1565)
  ("(state(agent1) back-away)" 1565 1599)
  ("(state(agent1) charge)" 1599 1671)
  ("(state(agent1) back-away)" 1671 1702)
  ("(state(agent1) charge)" 1702 1771)
  ("(state(agent1) back-away)" 1771 1802)
  ("(state(agent1) charge)" 1802 1872)
  ("(state(agent1) back-away)" 1872 1906)
  ("(state(agent1) charge)" 1906 1982)
  ("(state(agent1) back-away)" 1982 2016)
  ("(state(agent1) charge)" 2016 2090)
  ("(state(agent1) back-away)" 2090 2120)
  ("(state(agent1) charge)" 2120 2189)
  ("(state(agent1) back-away)" 2189 2223)
  ("(state(agent1) charge)" 2223 2292)
  ("(state(agent1) back-away)" 2292 2326)
  ("(state(agent1) charge)" 2326 2399)
  ("(state(agent1) back-away)" 2399 2407)
  ("(x(agent2) 1)" 1255 1340)
  ("(x(agent2) 2)" 1549 1581)
  ("(x(agent2) 3)" 1581 1628)
  ("(x(agent2) 4)" 1628 2274)
  ("(x(agent2) 3)" 2274 2382)
  ("(x(agent2) up)" 1256 1313)
  ("(x(agent2) stable)" 1313 1317)
  ("(x(agent2) down)" 1317 1340)
  ("(x(agent2) down)" 1550 1638)
  ("(x(agent2) stable)" 1638 1646)
  ("(x(agent2) up)" 1646 1657)
  ("(x(agent2) stable)" 1657 1673)
  ("(x(agent2) down)" 1673 1728)
  ("(x(agent2) stable)" 1728 1736)
  ("(x(agent2) up)" 1736 1769)
  ("(x(agent2) stable)" 1769 1779)
  ("(x(agent2) down)" 1779 1823)
  ("(x(agent2) stable)" 1823 1832)
  ("(x(agent2) up)" 1832 1874)
  ("(x(agent2) stable)" 1874 1883)
  ("(x(agent2) down)" 1883 1926)
  ("(x(agent2) stable)" 1926 1936)
  ("(x(agent2) up)" 1936 1985)
  ("(x(agent2) stable)" 1985 1995)
  ("(x(agent2) down)" 1995 2033)
  ("(x(agent2) stable)" 2033 2045)
  ("(x(agent2) up)" 2045 2093)
  ("(x(agent2) stable)" 2093 2104)
  ("(x(agent2) down)" 2104 2135)
  ("(x(agent2) stable)" 2135 2148)
  ("(x(agent2) up)" 2148 2192)
  ("(x(agent2) stable)" 2192 2203)
  ("(x(agent2) down)" 2203 2235)
  ("(x(agent2) stable)" 2235 2247)
  ("(x(agent2) up)" 2247 2298)
  ("(x(agent2) stable)" 2298 2308)
  ("(x(agent2) down)" 2308 2340)
  ("(x(agent2) stable)" 2340 2351)
  ("(x(agent2) up)" 2351 2382)
  ("(y(agent2) 5)" 1255 1337)
  ("(y(agent2) 4)" 1337 1340)
  ("(y(agent2) 2)" 1549 1558)
  ("(y(agent2) 3)" 1558 1584)
  ("(y(agent2) 2)" 1584 1653)
  ("(y(agent2) 3)" 1653 1701)
  ("(y(agent2) 2)" 1701 1749)
  ("(y(agent2) 3)" 1749 1802)
  ("(y(agent2) 2)" 1802 1850)
  ("(y(agent2) 3)" 1850 1901)
  ("(y(agent2) 2)" 1901 1962)
  ("(y(agent2) 3)" 1962 2011)
  ("(y(agent2) 2)" 2011 2071)
  ("(y(agent2) 3)" 2071 2119)
  ("(y(agent2) 2)" 2119 2169)
  ("(y(agent2) 3)" 2169 2216)
  ("(y(agent2) 2)" 2216 2271)
  ("(y(agent2) 3)" 2271 2326)
  ("(y(agent2) 2)" 2326 2372)
  ("(y(agent2) 3)" 2372 2382)
  ("(y(agent2) up)" 1256 1340)
  ("(y(agent2) down)" 1550 1571)
  ("(y(agent2) stable)" 1571 1573)
  ("(y(agent2) up)" 1573 1621)
  ("(y(agent2) stable)" 1621 1623)
  ("(y(agent2) down)" 1623 1677)
  ("(y(agent2) stable)" 1677 1678)
  ("(y(agent2) up)" 1678 1726)
  ("(y(agent2) stable)" 1726 1727)
  ("(y(agent2) down)" 1727 1776)
  ("(y(agent2) stable)" 1776 1777)
  ("(y(agent2) up)" 1777 1826)
  ("(y(agent2) stable)" 1826 1828)
  ("(y(agent2) down)" 1828 1877)
  ("(y(agent2) stable)" 1877 1878)
  ("(y(agent2) up)" 1878 1931)
  ("(y(agent2) stable)" 1931 1933)
  ("(y(agent2) down)" 1933 1987)
  ("(y(agent2) stable)" 1987 1989)
  ("(y(agent2) up)" 1989 2041)
  ("(y(agent2) stable)" 2041 2043)
  ("(y(agent2) down)" 2043 2095)
  ("(y(agent2) stable)" 2095 2096)
  ("(y(agent2) up)" 2096 2144)
  ("(y(agent2) stable)" 2144 2146)
  ("(y(agent2) down)" 2146 2194)
  ("(y(agent2) stable)" 2194 2195)
  ("(y(agent2) up)" 2195 2245)
  ("(y(agent2) stable)" 2245 2246)
  ("(y(agent2) down)" 2246 2299)
  ("(y(agent2) stable)" 2299 2300)
  ("(y(agent2) up)" 2300 2350)
  ("(y(agent2) stable)" 2350 2351)
  ("(y(agent2) down)" 2351 2382)
  ("(speed(agent2) 1)" 1255 1340)
  ("(speed(agent2) 3)" 1549 1597)
  ("(speed(agent2) 4)" 1597 1645)
  ("(speed(agent2) 3)" 1645 1692)
  ("(speed(agent2) 4)" 1692 1715)
  ("(speed(agent2) 5)" 1715 1740)
  ("(speed(agent2) 4)" 1740 1756)
  ("(speed(agent2) 3)" 1756 1795)
  ("(speed(agent2) 4)" 1795 1816)
  ("(speed(agent2) 5)" 1816 1841)
  ("(speed(agent2) 4)" 1841 1855)
  ("(speed(agent2) 3)" 1855 1881)
  ("(speed(agent2) 2)" 1881 1888)
  ("(speed(agent2) 3)" 1888 1902)
  ("(speed(agent2) 4)" 1902 1924)
  ("(speed(agent2) 5)" 1924 1946)
  ("(speed(agent2) 4)" 1946 1955)
  ("(speed(agent2) 3)" 1955 2007)
  ("(speed(agent2) 4)" 2007 2033)
  ("(speed(agent2) 5)" 2033 2055)
  ("(speed(agent2) 4)" 2055 2064)
  ("(speed(agent2) 3)" 2064 2091)
  ("(speed(agent2) 2)" 2091 2103)
  ("(speed(agent2) 3)" 2103 2113)
  ("(speed(agent2) 4)" 2113 2133)
  ("(speed(agent2) 5)" 2133 2158)
  ("(speed(agent2) 4)" 2158 2174)
  ("(speed(agent2) 3)" 2174 2200)
  ("(speed(agent2) 2)" 2200 2204)
  ("(speed(agent2) 3)" 2204 2215)
  ("(speed(agent2) 4)" 2215 2261)
  ("(speed(agent2) 3)" 2261 2267)
  ("(speed(agent2) 2)" 2267 2315)
  ("(speed(agent2) 3)" 2315 2331)
  ("(speed(agent2) 4)" 2331 2366)
  ("(speed(agent2) 3)" 2366 2372)
  ("(speed(agent2) 2)" 2372 2382)
  ("(speed(agent2) down)" 1256 1303)
  ("(speed(agent2) stable)" 1303 1305)
  ("(speed(agent2) up)" 1305 1340)
  ("(speed(agent2) down)" 1550 1559)
  ("(speed(agent2) stable)" 1559 1560)
  ("(speed(agent2) up)" 1560 1580)
  ("(speed(agent2) down)" 1580 1629)
  ("(speed(agent2) up)" 1629 1680)
  ("(speed(agent2) down)" 1680 1731)
  ("(speed(agent2) stable)" 1731 1732)
  ("(speed(agent2) up)" 1732 1781)
  ("(speed(agent2) down)" 1781 1832)
  ("(speed(agent2) up)" 1832 1885)
  ("(speed(agent2) down)" 1885 1937)
  ("(speed(agent2) up)" 1937 1993)
  ("(speed(agent2) stable)" 1993 1994)
  ("(speed(agent2) down)" 1994 2046)
  ("(speed(agent2) stable)" 2046 2047)
  ("(speed(agent2) up)" 2047 2098)
  ("(speed(agent2) stable)" 2098 2099)
  ("(speed(agent2) down)" 2099 2150)
  ("(speed(agent2) up)" 2150 2202)
  ("(speed(agent2) down)" 2202 2246)
  ("(speed(agent2) stable)" 2246 2249)
  ("(speed(agent2) up)" 2249 2304)
  ("(speed(agent2) down)" 2304 2319)
  ("(speed(agent2) up)" 2319 2320)
  ("(speed(agent2) down)" 2320 2355)
  ("(speed(agent2) stable)" 2355 2356)
  ("(speed(agent2) up)" 2356 2382)
  ("(heading(agent2) 5)" 1280 1315)
  ("(heading(agent2) 2)" 1574 1806)
  ("(heading(agent2) 3)" 1806 2357)
  ("(heading(agent2) up)" 1281 1315)
  ("(heading(agent2) stable)" 1575 1584)
  ("(heading(agent2) down)" 1584 1619)
  ("(heading(agent2) stable)" 1619 1668)
  ("(heading(agent2) down)" 1668 1681)
  ("(heading(agent2) stable)" 1681 2357)
  ("heard(agent1 agent2)" 2370 2407)
  ("heard(agent1 agent2)" 2250 2331)
  ("heard(agent1 agent2)" 2044 2240)
  ("heard(agent1 agent2)" 1938 2035)
  ("heard(agent1 agent2)" 1333 1922)
  ("novel(agent1 agent2)" 2371 2407)
  ("novel(agent1 agent2)" 2251 2330)
  ("novel(agent1 agent2)" 2045 2125)
  ("novel(agent1 agent2)" 1939 2017)
  ("novel(agent1 agent2)" 1499 1580)
  ("novel(agent1 agent2)" 1334 1414)
  ("novel(agent1 agent2)" 1231 1313)
  ("collision(agent1 agent2)" 2399 2401)
  ("collision(agent1 agent2)" 2292 2295)
  ("collision(agent1 agent2)" 2189 2191)
  ("collision(agent1 agent2)" 2090 2093)
  ("collision(agent1 agent2)" 1982 1984)
  ("collision(agent1 agent2)" 1872 1875)
  ("collision(agent1 agent2)" 1771 1774)
  ("collision(agent1 agent2)" 1671 1672)
  ("collision(agent1 agent2)" 1565 1568)
  ("collision(agent1 agent2)" 1487 1489)
  ("collision(agent1 agent2)" 1434 1437)
  ("(distance(agent1 agent2) 1)" 1255 1334)
  ("(distance(agent1 agent2) 2)" 1334 1344)
  ("(distance(agent1 agent2) 3)" 1344 1356)
  ("(distance(agent1 agent2) 4)" 1356 1594)
  ("(distance(agent1 agent2) 3)" 1594 1652)
  ("(distance(agent1 agent2) 4)" 1652 1700)
  ("(distance(agent1 agent2) 3)" 1700 1751)
  ("(distance(agent1 agent2) 4)" 1751 1799)
  ("(distance(agent1 agent2) 3)" 1799 1852)
  ("(distance(agent1 agent2) 4)" 1852 1899)
  ("(distance(agent1 agent2) 3)" 1899 1921)
  ("(distance(agent1 agent2) 2)" 1921 1942)
  ("(distance(agent1 agent2) 3)" 1942 1963)
  ("(distance(agent1 agent2) 4)" 1963 2010)
  ("(distance(agent1 agent2) 3)" 2010 2033)
  ("(distance(agent1 agent2) 2)" 2033 2049)
  ("(distance(agent1 agent2) 3)" 2049 2072)
  ("(distance(agent1 agent2) 4)" 2072 2118)
  ("(distance(agent1 agent2) 3)" 2118 2169)
  ("(distance(agent1 agent2) 4)" 2169 2216)
  ("(distance(agent1 agent2) 3)" 2216 2240)
  ("(distance(agent1 agent2) 2)" 2240 2253)
  ("(distance(agent1 agent2) 3)" 2253 2276)
  ("(distance(agent1 agent2) 4)" 2276 2315)
  ("(distance(agent1 agent2) 3)" 2315 2330)
  ("(distance(agent1 agent2) 2)" 2330 2372)
  ("(distance(agent1 agent2) 3)" 2372 2382)
  ("(distance(agent1 agent2) down)" 1256 1376)
  ("(distance(agent1 agent2) stable)" 1376 1378)
  ("(distance(agent1 agent2) up)" 1378 1399)
  ("(distance(agent1 agent2) stable)" 1399 1401)
  ("(distance(agent1 agent2) down)" 1401 1455)
  ("(distance(agent1 agent2) stable)" 1455 1482)
  ("(distance(agent1 agent2) up)" 1482 1533)
  ("(distance(agent1 agent2) stable)" 1533 1535)
  ("(distance(agent1 agent2) down)" 1535 1565)
  ("(distance(agent1 agent2) stable)" 1565 1567)
  ("(distance(agent1 agent2) up)" 1567 1624)
  ("(distance(agent1 agent2) stable)" 1624 1625)
  ("(distance(agent1 agent2) down)" 1625 1676)
  ("(distance(agent1 agent2) stable)" 1676 1678)
  ("(distance(agent1 agent2) up)" 1678 1726)
  ("(distance(agent1 agent2) stable)" 1726 1728)
  ("(distance(agent1 agent2) down)" 1728 1776)
  ("(distance(agent1 agent2) stable)" 1776 1777)
  ("(distance(agent1 agent2) up)" 1777 1827)
  ("(distance(agent1 agent2) stable)" 1827 1828)
  ("(distance(agent1 agent2) down)" 1828 1877)
  ("(distance(agent1 agent2) stable)" 1877 1878)
  ("(distance(agent1 agent2) up)" 1878 1932)
  ("(distance(agent1 agent2) stable)" 1932 1933)
  ("(distance(agent1 agent2) down)" 1933 1987)
  ("(distance(agent1 agent2) stable)" 1987 1989)
  ("(distance(agent1 agent2) up)" 1989 2041)
  ("(distance(agent1 agent2) stable)" 2041 2043)
  ("(distance(agent1 agent2) down)" 2043 2095)
  ("(distance(agent1 agent2) stable)" 2095 2097)
  ("(distance(agent1 agent2) up)" 2097 2144)
  ("(distance(agent1 agent2) stable)" 2144 2146)
  ("(distance(agent1 agent2) down)" 2146 2194)
  ("(distance(agent1 agent2) stable)" 2194 2195)
  ("(distance(agent1 agent2) up)" 2195 2247)
  ("(distance(agent1 agent2) stable)" 2247 2248)
  ("(distance(agent1 agent2) down)" 2248 2296)
  ("(distance(agent1 agent2) stable)" 2296 2297)
  ("(distance(agent1 agent2) up)" 2297 2351)
  ("(distance(agent1 agent2) stable)" 2351 2352)
  ("(distance(agent1 agent2) down)" 2352 2382)
  ("(relativeX(agent1 agent2) 5)" 1255 1340)
  ("(relativeX(agent1 agent2) 2)" 1549 1662)
  ("(relativeX(agent1 agent2) 3)" 1662 1694)
  ("(relativeX(agent1 agent2) 2)" 1694 1759)
  ("(relativeX(agent1 agent2) 3)" 1759 1792)
  ("(relativeX(agent1 agent2) 2)" 1792 1859)
  ("(relativeX(agent1 agent2) 3)" 1859 1896)
  ("(relativeX(agent1 agent2) 2)" 1896 1966)
  ("(relativeX(agent1 agent2) 3)" 1966 2008)
  ("(relativeX(agent1 agent2) 2)" 2008 2073)
  ("(relativeX(agent1 agent2) 3)" 2073 2119)
  ("(relativeX(agent1 agent2) 2)" 2119 2168)
  ("(relativeX(agent1 agent2) 3)" 2168 2218)
  ("(relativeX(agent1 agent2) 2)" 2218 2274)
  ("(relativeX(agent1 agent2) 3)" 2274 2317)
  ("(relativeX(agent1 agent2) 2)" 2317 2382)
  ("(relativeX(agent1 agent2) down)" 1256 1287)
  ("(relativeX(agent1 agent2) stable)" 1287 1289)
  ("(relativeX(agent1 agent2) up)" 1289 1340)
  ("(relativeX(agent1 agent2) down)" 1550 1571)
  ("(relativeX(agent1 agent2) stable)" 1571 1575)
  ("(relativeX(agent1 agent2) up)" 1575 1621)
  ("(relativeX(agent1 agent2) stable)" 1621 1625)
  ("(relativeX(agent1 agent2) down)" 1625 1677)
  ("(relativeX(agent1 agent2) stable)" 1677 1680)
  ("(relativeX(agent1 agent2) up)" 1680 1725)
  ("(relativeX(agent1 agent2) stable)" 1725 1729)
  ("(relativeX(agent1 agent2) down)" 1729 1775)
  ("(relativeX(agent1 agent2) stable)" 1775 1778)
  ("(relativeX(agent1 agent2) up)" 1778 1825)
  ("(relativeX(agent1 agent2) stable)" 1825 1829)
  ("(relativeX(agent1 agent2) down)" 1829 1877)
  ("(relativeX(agent1 agent2) stable)" 1877 1880)
  ("(relativeX(agent1 agent2) up)" 1880 1930)
  ("(relativeX(agent1 agent2) stable)" 1930 1934)
  ("(relativeX(agent1 agent2) down)" 1934 1987)
  ("(relativeX(agent1 agent2) stable)" 1987 1990)
  ("(relativeX(agent1 agent2) up)" 1990 2040)
  ("(relativeX(agent1 agent2) stable)" 2040 2044)
  ("(relativeX(agent1 agent2) down)" 2044 2094)
  ("(relativeX(agent1 agent2) stable)" 2094 2098)
  ("(relativeX(agent1 agent2) up)" 2098 2143)
  ("(relativeX(agent1 agent2) stable)" 2143 2147)
  ("(relativeX(agent1 agent2) down)" 2147 2193)
  ("(relativeX(agent1 agent2) stable)" 2193 2197)
  ("(relativeX(agent1 agent2) up)" 2197 2245)
  ("(relativeX(agent1 agent2) stable)" 2245 2249)
  ("(relativeX(agent1 agent2) down)" 2249 2295)
  ("(relativeX(agent1 agent2) stable)" 2295 2299)
  ("(relativeX(agent1 agent2) up)" 2299 2350)
  ("(relativeX(agent1 agent2) stable)" 2350 2354)
  ("(relativeX(agent1 agent2) down)" 2354 2382)
  ("(relativeY(agent1 agent2) 1)" 1255 1340)
  ("(relativeY(agent1 agent2) 3)" 1549 1595)
  ("(relativeY(agent1 agent2) 4)" 1595 1651)
  ("(relativeY(agent1 agent2) 3)" 1651 1700)
  ("(relativeY(agent1 agent2) 4)" 1700 1751)
  ("(relativeY(agent1 agent2) 3)" 1751 1800)
  ("(relativeY(agent1 agent2) 4)" 1800 1852)
  ("(relativeY(agent1 agent2) 3)" 1852 1900)
  ("(relativeY(agent1 agent2) 4)" 1900 1963)
  ("(relativeY(agent1 agent2) 3)" 1963 2010)
  ("(relativeY(agent1 agent2) 4)" 2010 2072)
  ("(relativeY(agent1 agent2) 3)" 2072 2119)
  ("(relativeY(agent1 agent2) 4)" 2119 2169)
  ("(relativeY(agent1 agent2) 3)" 2169 2216)
  ("(relativeY(agent1 agent2) 4)" 2216 2275)
  ("(relativeY(agent1 agent2) 3)" 2275 2315)
  ("(relativeY(agent1 agent2) 4)" 2315 2382)
  ("(relativeY(agent1 agent2) down)" 1256 1340)
  ("(relativeY(agent1 agent2) up)" 1550 1563)
  ("(relativeY(agent1 agent2) stable)" 1563 1567)
  ("(relativeY(agent1 agent2) down)" 1567 1623)
  ("(relativeY(agent1 agent2) stable)" 1623 1626)
  ("(relativeY(agent1 agent2) up)" 1626 1676)
  ("(relativeY(agent1 agent2) stable)" 1676 1678)
  ("(relativeY(agent1 agent2) down)" 1678 1726)
  ("(relativeY(agent1 agent2) stable)" 1726 1728)
  ("(relativeY(agent1 agent2) up)" 1728 1775)
  ("(relativeY(agent1 agent2) stable)" 1775 1778)
  ("(relativeY(agent1 agent2) down)" 1778 1826)
  ("(relativeY(agent1 agent2) stable)" 1826 1828)
  ("(relativeY(agent1 agent2) up)" 1828 1876)
  ("(relativeY(agent1 agent2) stable)" 1876 1879)
  ("(relativeY(agent1 agent2) down)" 1879 1931)
  ("(relativeY(agent1 agent2) stable)" 1931 1933)
  ("(relativeY(agent1 agent2) up)" 1933 1987)
  ("(relativeY(agent1 agent2) stable)" 1987 1989)
  ("(relativeY(agent1 agent2) down)" 1989 2041)
  ("(relativeY(agent1 agent2) stable)" 2041 2043)
  ("(relativeY(agent1 agent2) up)" 2043 2095)
  ("(relativeY(agent1 agent2) stable)" 2095 2097)
  ("(relativeY(agent1 agent2) down)" 2097 2144)
  ("(relativeY(agent1 agent2) stable)" 2144 2146)
  ("(relativeY(agent1 agent2) up)" 2146 2193)
  ("(relativeY(agent1 agent2) stable)" 2193 2196)
  ("(relativeY(agent1 agent2) down)" 2196 2246)
  ("(relativeY(agent1 agent2) stable)" 2246 2248)
  ("(relativeY(agent1 agent2) up)" 2248 2296)
  ("(relativeY(agent1 agent2) stable)" 2296 2298)
  ("(relativeY(agent1 agent2) down)" 2298 2351)
  ("(relativeY(agent1 agent2) stable)" 2351 2353)
  ("(relativeY(agent1 agent2) up)" 2353 2382)
  ("(x(wall2) 3)" 25 368)
  ("(x(wall2) stable)" 26 368)
  ("(y(wall2) 3)" 25 368)
  ("(y(wall2) stable)" 26 368)
  ("(speed(wall2) 3)" 25 368)
  ("(speed(wall2) stable)" 26 368)
  ("(heading(wall2) 3)" 50 343)
  ("(heading(wall2) stable)" 51 343)
  ("collision(agent1 wall2)" 258 279)
  ("(distance(agent1 wall2) 1)" 25 105)
  ("(distance(agent1 wall2) 2)" 105 137)
  ("(distance(agent1 wall2) 3)" 137 175)
  ("(distance(agent1 wall2) 4)" 175 244)
  ("(distance(agent1 wall2) 5)" 244 326)
  ("(distance(agent1 wall2) 4)" 326 368)
  ("(distance(agent1 wall2) down)" 26 271)
  ("(distance(agent1 wall2) stable)" 271 292)
  ("(distance(agent1 wall2) up)" 292 368)
  ("(relativeX(agent1 wall2) 5)" 25 105)
  ("(relativeX(agent1 wall2) 4)" 105 137)
  ("(relativeX(agent1 wall2) 3)" 137 175)
  ("(relativeX(agent1 wall2) 2)" 175 244)
  ("(relativeX(agent1 wall2) 1)" 244 326)
  ("(relativeX(agent1 wall2) 2)" 326 368)
  ("(relativeX(agent1 wall2) up)" 26 271)
  ("(relativeX(agent1 wall2) stable)" 271 292)
  ("(relativeX(agent1 wall2) down)" 292 368)
  ("(relativeY(agent1 wall2) 5)" 25 121)
  ("(relativeY(agent1 wall2) 4)" 121 185)
  ("(relativeY(agent1 wall2) 3)" 185 230)
  ("(relativeY(agent1 wall2) 2)" 230 280)
  ("(relativeY(agent1 wall2) 1)" 280 368)
  ("(relativeY(agent1 wall2) up)" 26 368)
  ("(x(wall4) 3)" 283 766)
  ("(x(wall4) stable)" 284 766)
  ("(y(wall4) 3)" 283 766)
  ("(y(wall4) stable)" 284 766)
  ("(speed(wall4) 3)" 283 766)
  ("(speed(wall4) stable)" 284 766)
  ("(heading(wall4) 3)" 308 741)
  ("(heading(wall4) stable)" 309 741)
  ("novel(agent1 wall4)" 259 340)
  ("collision(agent1 wall4)" 593 608)
  ("(distance(agent1 wall4) 1)" 283 378)
  ("(distance(agent1 wall4) 2)" 378 416)
  ("(distance(agent1 wall4) 3)" 416 477)
  ("(distance(agent1 wall4) 4)" 477 588)
  ("(distance(agent1 wall4) 5)" 588 639)
  ("(distance(agent1 wall4) 4)" 639 766)
  ("(distance(agent1 wall4) down)" 284 600)
  ("(distance(agent1 wall4) stable)" 600 631)
  ("(distance(agent1 wall4) up)" 631 766)
  ("(relativeX(agent1 wall4) 1)" 283 433)
  ("(relativeX(agent1 wall4) 2)" 433 519)
  ("(relativeX(agent1 wall4) 3)" 519 577)
  ("(relativeX(agent1 wall4) 4)" 577 643)
  ("(relativeX(agent1 wall4) 5)" 643 766)
  ("(relativeX(agent1 wall4) stable)" 284 325)
  ("(relativeX(agent1 wall4) down)" 325 766)
  ("(relativeY(agent1 wall4) 5)" 283 378)
  ("(relativeY(agent1 wall4) 4)" 378 416)
  ("(relativeY(agent1 wall4) 3)" 416 477)
  ("(relativeY(agent1 wall4) 2)" 477 588)
  ("(relativeY(agent1 wall4) 1)" 588 639)
  ("(relativeY(agent1 wall4) 2)" 639 766)
  ("(relativeY(agent1 wall4) up)" 284 599)
  ("(relativeY(agent1 wall4) stable)" 599 631)
  ("(relativeY(agent1 wall4) down)" 631 766)
 ))
(7
 (
  ("(x(agent1) 5)" 25 682)
  ("(x(agent1) 4)" 682 789)
  ("(x(agent1) 3)" 789 884)
  ("(x(agent1) 2)" 884 983)
  ("(x(agent1) 1)" 983 1190)
  ("(x(agent1) 2)" 1190 1292)
  ("(x(agent1) 3)" 1292 1560)
  ("(x(agent1) 2)" 1560 1648)
  ("(x(agent1) 1)" 1648 1829)
  ("(x(agent1) 2)" 1829 1877)
  ("(x(agent1) 1)" 1877 2185)
  ("(x(agent1) 2)" 2185 2201)
  ("(x(agent1) 1)" 2201 2277)
  ("(x(agent1) 2)" 2277 2354)
  ("(x(agent1) down)" 26 153)
  ("(x(agent1) stable)" 153 492)
  ("(x(agent1) up)" 492 1068)
  ("(x(agent1) stable)" 1068 1104)
  ("(x(agent1) down)" 1104 1409)
  ("(x(agent1) stable)" 1409 1444)
  ("(x(agent1) up)" 1444 1722)
  ("(x(agent1) stable)" 1722 1746)
  ("(x(agent1) down)" 1746 1841)
  ("(x(agent1) stable)" 1841 1867)
  ("(x(agent1) up)" 1867 1927)
  ("(x(agent1) stable)" 1927 1942)
  ("(x(agent1) down)" 1942 1974)
  ("(x(agent1) stable)" 1974 1991)
  ("(x(agent1) up)" 1991 2022)
  ("(x(agent1) stable)" 2022 2040)
  ("(x(agent1) down)" 2040 2075)
  ("(x(agent1) stable)" 2075 2092)
  ("(x(agent1) up)" 2092 2126)
  ("(x(agent1) stable)" 2126 2143)
  ("(x(agent1) down)" 2143 2186)
  ("(x(agent1) stable)" 2186 2201)
  ("(x(agent1) up)" 2201 2234)
  ("(x(agent1) stable)" 2234 2252)
  ("(x(agent1) down)" 2252 2294)
  ("(x(agent1) stable)" 2294 2317)
  ("(x(agent1) up)" 2317 2322)
  ("(x(agent1) stable)" 2322 2345)
  ("(x(agent1) down)" 2345 2354)
  ("(y(agent1) 2)" 25 62)
  ("(y(agent1) 1)" 62 520)
  ("(y(agent1) 2)" 520 583)
  ("(y(agent1) 3)" 583 663)
  ("(y(agent1) 4)" 663 771)
  ("(y(agent1) 5)" 771 1075)
  ("(y(agent1) 4)" 1075 1128)
  ("(y(agent1) 3)" 1128 1183)
  ("(y(agent1) 2)" 1183 1332)
  ("(y(agent1) 3)" 1332 1387)
  ("(y(agent1) 4)" 1387 1439)
  ("(y(agent1) 5)" 1439 1718)
  ("(y(agent1) 4)" 1718 1762)
  ("(y(agent1) 3)" 1762 1805)
  ("(y(agent1) 2)" 1805 2354)
  ("(y(agent1) up)" 26 153)
  ("(y(agent1) stable)" 153 167)
  ("(y(agent1) down)" 167 248)
  ("(y(agent1) stable)" 248 454)
  ("(y(agent1) down)" 454 925)
  ("(y(agent1) stable)" 925 942)
  ("(y(agent1) up)" 942 1249)
  ("(y(agent1) stable)" 1249 1268)
  ("(y(agent1) down)" 1268 1579)
  ("(y(agent1) stable)" 1579 1595)
  ("(y(agent1) up)" 1595 1868)
  ("(y(agent1) stable)" 1868 1896)
  ("(y(agent1) up)" 1896 1932)
  ("(y(agent1) stable)" 1932 1981)
  ("(y(agent1) up)" 1981 2022)
  ("(y(agent1) stable)" 2022 2035)
  ("(y(agent1) down)" 2035 2081)
  ("(y(agent1) stable)" 2081 2092)
  ("(y(agent1) up)" 2092 2129)
  ("(y(agent1) stable)" 2129 2142)
  ("(y(agent1) down)" 2142 2186)
  ("(y(agent1) stable)" 2186 2198)
  ("(y(agent1) up)" 2198 2237)
  ("(y(agent1) stable)" 2237 2249)
  ("(y(agent1) down)" 2249 2297)
  ("(y(agent1) stable)" 2297 2315)
  ("(y(agent1) up)" 2315 2327)
  ("(y(agent1) stable)" 2327 2344)
  ("(y(agent1) down)" 2344 2354)
  ("(speed(agent1) 5)" 25 30)
  ("(speed(agent1) 4)" 30 55)
  ("(speed(agent1) 3)" 55 122)
  ("(speed(agent1) 4)" 122 138)
  ("(speed(agent1) 5)" 138 484)
  ("(speed(agent1) 4)" 484 504)
  ("(speed(agent1) 3)" 504 531)
  ("(speed(agent1) 2)" 531 706)
  ("(speed(agent1) 1)" 706 902)
  ("(speed(agent1) 2)" 902 1557)
  ("(speed(agent1) 1)" 1557 1811)
  ("(speed(agent1) 2)" 1811 1826)
  ("(speed(agent1) 3)" 1826 1837)
  ("(speed(agent1) 4)" 1837 1850)
  ("(speed(agent1) 5)" 1850 1966)
  ("(speed(agent1) 4)" 1966 1998)
  ("(speed(agent1) 5)" 1998 2048)
  ("(speed(agent1) 4)" 2048 2102)
  ("(speed(agent1) 5)" 2102 2153)
  ("(speed(agent1) 4)" 2153 2210)
  ("(speed(agent1) 5)" 2210 2261)
  ("(speed(agent1) 4)" 2261 2308)
  ("(speed(agent1) 5)" 2308 2354)
  ("(speed(agent1) up)" 26 95)
  ("(speed(agent1) stable)" 95 96)
  ("(speed(agent1) down)" 96 168)
  ("(speed(agent1) stable)" 168 169)
  ("(speed(agent1) up)" 169 210)
  ("(speed(agent1) stable)" 210 211)
  ("(speed(agent1) down)" 211 269)
  ("(speed(agent1) stable)" 269 275)
  ("(speed(agent1) down)" 275 346)
  ("(speed(agent1) stable)" 346 434)
  ("(speed(agent1) up)" 434 582)
  ("(speed(agent1) stable)" 582 589)
  ("(speed(agent1) down)" 589 624)
  ("(speed(agent1) stable)" 624 630)
  ("(speed(agent1) up)" 630 714)
  ("(speed(agent1) stable)" 714 859)
  ("(speed(agent1) down)" 859 988)
  ("(speed(agent1) stable)" 988 1524)
  ("(speed(agent1) up)" 1524 1642)
  ("(speed(agent1) stable)" 1642 1790)
  ("(speed(agent1) down)" 1790 1871)
  ("(speed(agent1) stable)" 1871 1873)
  ("(speed(agent1) up)" 1873 1901)
  ("(speed(agent1) stable)" 1901 1902)
  ("(speed(agent1) down)" 1902 1940)
  ("(speed(agent1) stable)" 1940 1941)
  ("(speed(agent1) up)" 1941 1950)
  ("(speed(agent1) down)" 1950 1954)
  ("(speed(agent1) stable)" 1954 1955)
  ("(speed(agent1) up)" 1955 1986)
  ("(speed(agent1) stable)" 1986 1987)
  ("(speed(agent1) down)" 1987 2035)
  ("(speed(agent1) stable)" 2035 2036)
  ("(speed(agent1) up)" 2036 2088)
  ("(speed(agent1) stable)" 2088 2089)
  ("(speed(agent1) down)" 2089 2103)
  ("(speed(agent1) up)" 2103 2105)
  ("(speed(agent1) down)" 2105 2140)
  ("(speed(agent1) up)" 2140 2161)
  ("(speed(agent1) stable)" 2161 2196)
  ("(speed(agent1) down)" 2196 2211)
  ("(speed(agent1) up)" 2211 2213)
  ("(speed(agent1) stable)" 2213 2214)
  ("(speed(agent1) down)" 2214 2248)
  ("(speed(agent1) up)" 2248 2270)
  ("(speed(agent1) stable)" 2270 2294)
  ("(speed(agent1) down)" 2294 2320)
  ("(speed(agent1) up)" 2320 2350)
  ("(speed(agent1) down)" 2350 2354)
  ("(heading(agent1) 4)" 50 101)
  ("(heading(agent1) 5)" 101 260)
  ("(heading(agent1) 4)" 260 331)
  ("(heading(agent1) 3)" 331 383)
  ("(heading(agent1) 2)" 383 458)
  ("(heading(agent1) 1)" 458 899)
  ("(heading(agent1) 5)" 899 1107)
  ("(heading(agent1) 4)" 1107 1214)
  ("(heading(agent1) 3)" 1214 1302)
  ("(heading(agent1) 2)" 1302 1404)
  ("(heading(agent1) 1)" 1404 1553)
  ("(heading(agent1) 5)" 1553 1745)
  ("(heading(agent1) 4)" 1745 1828)
  ("(heading(agent1) 3)" 1828 2329)
  ("(heading(agent1) down)" 51 168)
  ("(heading(agent1) stable)" 168 170)
  ("(heading(agent1) down)" 170 175)
  ("(heading(agent1) stable)" 175 177)
  ("(heading(agent1) down)" 177 182)
  ("(heading(agent1) stable)" 182 185)
  ("(heading(agent1) down)" 185 188)
  ("(heading(agent1) stable)" 188 191)
  ("(heading(agent1) down)" 191 196)
  ("(heading(agent1) stable)" 196 199)
  ("(heading(agent1) down)" 199 202)
  ("(heading(agent1) stable)" 202 213)
  ("(heading(agent1) up)" 213 657)
  ("(heading(agent1) stable)" 657 666)
  ("(heading(agent1) down)" 666 769)
  ("(heading(agent1) stable)" 769 787)
  ("(heading(agent1) up)" 787 1918)
  ("(heading(agent1) stable)" 1918 1965)
  ("(heading(agent1) up)" 1965 2060)
  ("(heading(agent1) stable)" 2060 2329)
  ("(energy(agent1) 2)" 25 1717)
  ("(energy(agent1) 3)" 1717 1847)
  ("(energy(agent1) 4)" 1847 1971)
  ("(energy(agent1) 5)" 1971 2354)
  ("(energy(agent1) stable)" 26 1552)
  ("(energy(agent1) down)" 1552 2354)
  ("(arousal(agent1) 2)" 25 303)
  ("(arousal(agent1) 3)" 303 553)
  ("(arousal(agent1) 4)" 553 614)
  ("(arousal(agent1) 3)" 614 793)
  ("(arousal(agent1) 4)" 793 1087)
  ("(arousal(agent1) 5)" 1087 1122)
  ("(arousal(agent1) 4)" 1122 1327)
  ("(arousal(agent1) 5)" 1327 1790)
  ("(arousal(agent1) 4)" 1790 1839)
  ("(arousal(agent1) 3)" 1839 1887)
  ("(arousal(agent1) 2)" 1887 1960)
  ("(arousal(agent1) 1)" 1960 2354)
  ("(arousal(agent1) down)" 26 578)
  ("(arousal(agent1) stable)" 578 594)
  ("(arousal(agent1) up)" 594 675)
  ("(arousal(agent1) stable)" 675 691)
  ("(arousal(agent1) down)" 691 1096)
  ("(arousal(agent1) stable)" 1096 1113)
  ("(arousal(agent1) up)" 1113 1194)
  ("(arousal(agent1) stable)" 1194 1210)
  ("(arousal(agent1) down)" 1210 1481)
  ("(arousal(agent1) stable)" 1481 1733)
  ("(arousal(agent1) up)" 1733 1948)
  ("(arousal(agent1) stable)" 1948 1950)
  ("(arousal(agent1) up)" 1950 2001)
  ("(arousal(agent1) down)" 2001 2052)
  ("(arousal(agent1) up)" 2052 2103)
  ("(arousal(agent1) down)" 2103 2160)
  ("(arousal(agent1) up)" 2160 2211)
  ("(arousal(agent1) down)" 2211 2269)
  ("(arousal(agent1) up)" 2269 2320)
  ("(arousal(agent1) down)" 2320 2350)
  ("(arousal(agent1) up)" 2350 2354)
  ("(valence(agent1) 4)" 25 1823)
  ("(valence(agent1) 3)" 1823 1893)
  ("(valence(agent1) 2)" 1893 1972)
  ("(valence(agent1) 1)" 1972 2354)
  ("(valence(agent1) stable)" 26 1796)
  ("(valence(agent1) up)" 1796 1847)
  ("(valence(agent1) down)" 1847 1857)
  ("(valence(agent1) up)" 1857 1908)
  ("(valence(agent1) down)" 1908 1950)
  ("(valence(agent1) up)" 1950 2001)
  ("(valence(agent1) down)" 2001 2052)
  ("(valence(agent1) up)" 2052 2103)
  ("(valence(agent1) down)" 2103 2160)
  ("(valence(agent1) up)" 2160 2211)
  ("(valence(agent1) down)" 2211 2269)
  ("(valence(agent1) up)" 2269 2320)
  ("(valence(agent1) down)" 2320 2350)
  ("(valence(agent1) up)" 2350 2354)
  ("(goal(agent1) WanderGoal)" 0 594)
  ("(goal(agent1) PursueGoal)" 594 2379)
  ("(state(agent1) wander)" 0 594)
  ("(state(agent1) charge)" 594 1821)
  ("(state(agent1) back-away)" 1821 1853)
  ("(state(agent1) charge)" 1853 1882)
  ("(state(agent1) back-away)" 1882 1912)
  ("(state(agent1) charge)" 1912 1975)
  ("(state(agent1) back-away)" 1975 2007)
  ("(state(agent1) charge)" 2007 2077)
  ("(state(agent1) back-away)" 2077 2111)
  ("(state(agent1) charge)" 2111 2185)
  ("(state(agent1) back-away)" 2185 2219)
  ("(state(agent1) charge)" 2219 2294)
  ("(state(agent1) back-away)" 2294 2317)
  ("(state(agent1) charge)" 2317 2375)
  ("(state(agent1) back-away)" 2375 2379)
  ("(x(agent2) 5)" 618 792)
  ("(x(agent2) 4)" 792 834)
  ("(x(agent2) 3)" 834 868)
  ("(x(agent2) 2)" 868 914)
  ("(x(agent2) 1)" 914 1090)
  ("(x(agent2) 2)" 1090 1137)
  ("(x(agent2) 3)" 1137 1171)
  ("(x(agent2) 4)" 1171 1212)
  ("(x(agent2) 5)" 1212 1459)
  ("(x(agent2) 4)" 1459 1501)
  ("(x(agent2) 3)" 1501 1536)
  ("(x(agent2) 2)" 1536 1584)
  ("(x(agent2) 1)" 1584 1744)
  ("(x(agent2) 2)" 1744 1799)
  ("(x(agent2) 2)" 1889 2354)
  ("(x(agent2) down)" 619 655)
  ("(x(agent2) stable)" 655 671)
  ("(x(agent2) up)" 671 996)
  ("(x(agent2) stable)" 996 1010)
  ("(x(agent2) down)" 1010 1329)
  ("(x(agent2) stable)" 1329 1344)
  ("(x(agent2) up)" 1344 1657)
  ("(x(agent2) stable)" 1657 1671)
  ("(x(agent2) down)" 1671 1787)
  ("(x(agent2) stable)" 1787 1794)
  ("(x(agent2) up)" 1794 1799)
  ("(x(agent2) down)" 1890 1927)
  ("(x(agent2) stable)" 1927 1936)
  ("(x(agent2) up)" 1936 1976)
  ("(x(agent2) stable)" 1976 1984)
  ("(x(agent2) down)" 1984 2029)
  ("(x(agent2) stable)" 2029 2037)
  ("(x(agent2) up)" 2037 2075)
  ("(x(agent2) stable)" 2075 2083)
  ("(x(agent2) down)" 2083 2134)
  ("(x(agent2) stable)" 2134 2142)
  ("(x(agent2) up)" 2142 2184)
  ("(x(agent2) stable)" 2184 2192)
  ("(x(agent2) down)" 2192 2243)
  ("(x(agent2) stable)" 2243 2251)
  ("(x(agent2) up)" 2251 2292)
  ("(x(agent2) stable)" 2292 2301)
  ("(x(agent2) down)" 2301 2337)
  ("(x(agent2) stable)" 2337 2346)
  ("(x(agent2) up)" 2346 2354)
  ("(y(agent2) 2)" 618 629)
  ("(y(agent2) 3)" 629 668)
  ("(y(agent2) 4)" 668 716)
  ("(y(agent2) 5)" 716 955)
  ("(y(agent2) 4)" 955 1003)
  ("(y(agent2) 3)" 1003 1043)
  ("(y(agent2) 2)" 1043 1103)
  ("(y(agent2) 1)" 1103 1235)
  ("(y(agent2) 2)" 1235 1295)
  ("(y(agent2) 3)" 1295 1335)
  ("(y(agent2) 4)" 1335 1382)
  ("(y(agent2) 5)" 1382 1617)
  ("(y(agent2) 4)" 1617 1665)
  ("(y(agent2) 3)" 1665 1705)
  ("(y(agent2) 2)" 1705 1771)
  ("(y(agent2) 1)" 1771 1799)
  ("(y(agent2) 1)" 1889 2354)
  ("(y(agent2) down)" 619 828)
  ("(y(agent2) stable)" 828 845)
  ("(y(agent2) up)" 845 1162)
  ("(y(agent2) stable)" 1162 1179)
  ("(y(agent2) down)" 1179 1492)
  ("(y(agent2) stable)" 1492 1508)
  ("(y(agent2) up)" 1508 1789)
  ("(y(agent2) stable)" 1789 1799)
  ("(y(agent2) up)" 1890 1900)
  ("(y(agent2) stable)" 1900 1948)
  ("(y(agent2) up)" 1948 1952)
  ("(y(agent2) stable)" 1952 1977)
  ("(y(agent2) down)" 1977 2027)
  ("(y(agent2) stable)" 2027 2039)
  ("(y(agent2) up)" 2039 2074)
  ("(y(agent2) stable)" 2074 2087)
  ("(y(agent2) down)" 2087 2133)
  ("(y(agent2) stable)" 2133 2146)
  ("(y(agent2) up)" 2146 2180)
  ("(y(agent2) stable)" 2180 2193)
  ("(y(agent2) down)" 2193 2240)
  ("(y(agent2) stable)" 2240 2252)
  ("(y(agent2) up)" 2252 2291)
  ("(y(agent2) stable)" 2291 2306)
  ("(y(agent2) down)" 2306 2334)
  ("(y(agent2) stable)" 2334 2348)
  ("(y(agent2) up)" 2348 2354)
  ("(speed(agent2) 2)" 618 1750)
  ("(speed(agent2) 3)" 1750 1759)
  ("(speed(agent2) 4)" 1759 1768)
  ("(speed(agent2) 5)" 1768 1799)
  ("(speed(agent2) 5)" 1889 2354)
  ("(speed(agent2) stable)" 619 1733)
  ("(speed(agent2) down)" 1733 1799)
  ("(speed(agent2) down)" 1890 1921)
  ("(speed(agent2) stable)" 1921 1924)
  ("(speed(agent2) up)" 1924 1987)
  ("(speed(agent2) stable)" 1987 1988)
  ("(speed(agent2) down)" 1988 2038)
  ("(speed(agent2) up)" 2038 2091)
  ("(speed(agent2) stable)" 2091 2092)
  ("(speed(agent2) down)" 2092 2143)
  ("(speed(agent2) up)" 2143 2198)
  ("(speed(agent2) stable)" 2198 2199)
  ("(speed(agent2) down)" 2199 2251)
  ("(speed(agent2) stable)" 2251 2252)
  ("(speed(agent2) up)" 2252 2297)
  ("(speed(agent2) stable)" 2297 2298)
  ("(speed(agent2) down)" 2298 2346)
  ("(speed(agent2) stable)" 2346 2347)
  ("(speed(agent2) up)" 2347 2350)
  ("(speed(agent2) down)" 2350 2354)
  ("(heading(agent2) 1)" 643 789)
  ("(heading(agent2) 5)" 789 866)
  ("(heading(agent2) 4)" 866 987)
  ("(heading(agent2) 3)" 987 1090)
  ("(heading(agent2) 2)" 1090 1216)
  ("(heading(agent2) 1)" 1216 1454)
  ("(heading(agent2) 5)" 1454 1527)
  ("(heading(agent2) 4)" 1527 1648)
  ("(heading(agent2) 3)" 1648 1739)
  ("(heading(agent2) 2)" 1739 1774)
  ("(heading(agent2) 5)" 1914 1994)
  ("(heading(agent2) 4)" 1994 2050)
  ("(heading(agent2) 5)" 2050 2329)
  ("(heading(agent2) up)" 644 1774)
  ("(heading(agent2) down)" 1915 1933)
  ("(heading(agent2) stable)" 1933 1936)
  ("(heading(agent2) up)" 1936 2023)
  ("(heading(agent2) stable)" 2023 2031)
  ("(heading(agent2) down)" 2031 2079)
  ("(heading(agent2) stable)" 2079 2140)
  ("(heading(agent2) up)" 2140 2179)
  ("(heading(agent2) stable)" 2179 2248)
  ("(heading(agent2) down)" 2248 2277)
  ("(heading(agent2) stable)" 2277 2329)
  ("heard(agent1 agent2)" 1754 2379)
  ("novel(agent1 agent2)" 1865 1947)
  ("novel(agent1 agent2)" 1755 1836)
  ("novel(agent1 agent2)" 594 674)
  ("collision(agent1 agent2)" 2375 2376)
  ("collision(agent1 agent2)" 2294 2296)
  ("collision(agent1 agent2)" 2185 2187)
  ("collision(agent1 agent2)" 2077 2078)
  ("collision(agent1 agent2)" 1975 1977)
  ("collision(agent1 agent2)" 1882 1884)
  ("collision(agent1 agent2)" 1821 1823)
  ("(distance(agent1 agent2) 1)" 618 808)
  ("(distance(agent1 agent2) 2)" 808 1641)
  ("(distance(agent1 agent2) 3)" 1641 1765)
  ("(distance(agent1 agent2) 4)" 1765 1790)
  ("(distance(agent1 agent2) 5)" 1790 2023)
  ("(distance(agent1 agent2) 4)" 2023 2040)
  ("(distance(agent1 agent2) 5)" 2040 2119)
  ("(distance(agent1 agent2) 4)" 2119 2153)
  ("(distance(agent1 agent2) 5)" 2153 2226)
  ("(distance(agent1 agent2) 4)" 2226 2262)
  ("(distance(agent1 agent2) 5)" 2262 2354)
  ("(distance(agent1 agent2) down)" 619 921)
  ("(distance(agent1 agent2) stable)" 921 948)
  ("(distance(agent1 agent2) up)" 948 1090)
  ("(distance(agent1 agent2) stable)" 1090 1547)
  ("(distance(agent1 agent2) down)" 1547 1836)
  ("(distance(agent1 agent2) stable)" 1836 1839)
  ("(distance(agent1 agent2) up)" 1839 1851)
  ("(distance(agent1 agent2) stable)" 1851 1854)
  ("(distance(agent1 agent2) down)" 1854 1874)
  ("(distance(agent1 agent2) stable)" 1874 1878)
  ("(distance(agent1 agent2) up)" 1878 1934)
  ("(distance(agent1 agent2) stable)" 1934 1935)
  ("(distance(agent1 agent2) down)" 1935 1978)
  ("(distance(agent1 agent2) stable)" 1978 1980)
  ("(distance(agent1 agent2) up)" 1980 2031)
  ("(distance(agent1 agent2) stable)" 2031 2033)
  ("(distance(agent1 agent2) down)" 2033 2082)
  ("(distance(agent1 agent2) stable)" 2082 2083)
  ("(distance(agent1 agent2) up)" 2083 2136)
  ("(distance(agent1 agent2) stable)" 2136 2137)
  ("(distance(agent1 agent2) down)" 2137 2190)
  ("(distance(agent1 agent2) stable)" 2190 2192)
  ("(distance(agent1 agent2) up)" 2192 2244)
  ("(distance(agent1 agent2) stable)" 2244 2246)
  ("(distance(agent1 agent2) down)" 2246 2300)
  ("(distance(agent1 agent2) stable)" 2300 2302)
  ("(distance(agent1 agent2) up)" 2302 2338)
  ("(distance(agent1 agent2) stable)" 2338 2340)
  ("(distance(agent1 agent2) down)" 2340 2354)
  ("(relativeX(agent1 agent2) 5)" 618 954)
  ("(relativeX(agent1 agent2) 4)" 954 1007)
  ("(relativeX(agent1 agent2) 3)" 1007 1046)
  ("(relativeX(agent1 agent2) 2)" 1046 1093)
  ("(relativeX(agent1 agent2) 1)" 1093 1329)
  ("(relativeX(agent1 agent2) 2)" 1329 1373)
  ("(relativeX(agent1 agent2) 3)" 1373 1408)
  ("(relativeX(agent1 agent2) 4)" 1408 1456)
  ("(relativeX(agent1 agent2) 5)" 1456 1618)
  ("(relativeX(agent1 agent2) 4)" 1618 1662)
  ("(relativeX(agent1 agent2) 3)" 1662 1697)
  ("(relativeX(agent1 agent2) 2)" 1697 1749)
  ("(relativeX(agent1 agent2) 1)" 1749 1784)
  ("(relativeX(agent1 agent2) 2)" 1784 1799)
  ("(relativeX(agent1 agent2) 2)" 1889 2132)
  ("(relativeX(agent1 agent2) 1)" 2132 2140)
  ("(relativeX(agent1 agent2) 2)" 2140 2354)
  ("(relativeX(agent1 agent2) up)" 619 764)
  ("(relativeX(agent1 agent2) stable)" 764 782)
  ("(relativeX(agent1 agent2) down)" 782 862)
  ("(relativeX(agent1 agent2) stable)" 862 883)
  ("(relativeX(agent1 agent2) up)" 883 1205)
  ("(relativeX(agent1 agent2) stable)" 1205 1221)
  ("(relativeX(agent1 agent2) down)" 1221 1537)
  ("(relativeX(agent1 agent2) stable)" 1537 1548)
  ("(relativeX(agent1 agent2) up)" 1548 1766)
  ("(relativeX(agent1 agent2) stable)" 1766 1770)
  ("(relativeX(agent1 agent2) down)" 1770 1799)
  ("(relativeX(agent1 agent2) up)" 1890 1932)
  ("(relativeX(agent1 agent2) stable)" 1932 1935)
  ("(relativeX(agent1 agent2) down)" 1935 1980)
  ("(relativeX(agent1 agent2) stable)" 1980 1983)
  ("(relativeX(agent1 agent2) up)" 1983 2031)
  ("(relativeX(agent1 agent2) stable)" 2031 2034)
  ("(relativeX(agent1 agent2) down)" 2034 2080)
  ("(relativeX(agent1 agent2) stable)" 2080 2083)
  ("(relativeX(agent1 agent2) up)" 2083 2135)
  ("(relativeX(agent1 agent2) stable)" 2135 2138)
  ("(relativeX(agent1 agent2) down)" 2138 2190)
  ("(relativeX(agent1 agent2) stable)" 2190 2193)
  ("(relativeX(agent1 agent2) up)" 2193 2244)
  ("(relativeX(agent1 agent2) stable)" 2244 2247)
  ("(relativeX(agent1 agent2) down)" 2247 2298)
  ("(relativeX(agent1 agent2) stable)" 2298 2303)
  ("(relativeX(agent1 agent2) up)" 2303 2337)
  ("(relativeX(agent1 agent2) stable)" 2337 2341)
  ("(relativeX(agent1 agent2) down)" 2341 2354)
  ("(relativeY(agent1 agent2) 3)" 618 641)
  ("(relativeY(agent1 agent2) 2)" 641 685)
  ("(relativeY(agent1 agent2) 1)" 685 833)
  ("(relativeY(agent1 agent2) 2)" 833 871)
  ("(relativeY(agent1 agent2) 3)" 871 898)
  ("(relativeY(agent1 agent2) 4)" 898 932)
  ("(relativeY(agent1 agent2) 5)" 932 1166)
  ("(relativeY(agent1 agent2) 4)" 1166 1204)
  ("(relativeY(agent1 agent2) 3)" 1204 1235)
  ("(relativeY(agent1 agent2) 2)" 1235 1274)
  ("(relativeY(agent1 agent2) 1)" 1274 1486)
  ("(relativeY(agent1 agent2) 2)" 1486 1523)
  ("(relativeY(agent1 agent2) 3)" 1523 1552)
  ("(relativeY(agent1 agent2) 4)" 1552 1588)
  ("(relativeY(agent1 agent2) 5)" 1588 1774)
  ("(relativeY(agent1 agent2) 4)" 1774 1799)
  ("(relativeY(agent1 agent2) 3)" 1889 2000)
  ("(relativeY(agent1 agent2) 2)" 2000 2059)
  ("(relativeY(agent1 agent2) 3)" 2059 2107)
  ("(relativeY(agent1 agent2) 2)" 2107 2166)
  ("(relativeY(agent1 agent2) 3)" 2166 2211)
  ("(relativeY(agent1 agent2) 2)" 2211 2276)
  ("(relativeY(agent1 agent2) 3)" 2276 2354)
  ("(relativeY(agent1 agent2) up)" 619 755)
  ("(relativeY(agent1 agent2) stable)" 755 764)
  ("(relativeY(agent1 agent2) down)" 764 1040)
  ("(relativeY(agent1 agent2) stable)" 1040 1053)
  ("(relativeY(agent1 agent2) up)" 1053 1375)
  ("(relativeY(agent1 agent2) stable)" 1375 1387)
  ("(relativeY(agent1 agent2) down)" 1387 1674)
  ("(relativeY(agent1 agent2) stable)" 1674 1685)
  ("(relativeY(agent1 agent2) up)" 1685 1799)
  ("(relativeY(agent1 agent2) down)" 1890 1896)
  ("(relativeY(agent1 agent2) stable)" 1896 1901)
  ("(relativeY(agent1 agent2) up)" 1901 1937)
  ("(relativeY(agent1 agent2) stable)" 1937 1943)
  ("(relativeY(agent1 agent2) down)" 1943 1966)
  ("(relativeY(agent1 agent2) stable)" 1966 1973)
  ("(relativeY(agent1 agent2) up)" 1973 2029)
  ("(relativeY(agent1 agent2) stable)" 2029 2033)
  ("(relativeY(agent1 agent2) down)" 2033 2082)
  ("(relativeY(agent1 agent2) stable)" 2082 2086)
  ("(relativeY(agent1 agent2) up)" 2086 2135)
  ("(relativeY(agent1 agent2) stable)" 2135 2139)
  ("(relativeY(agent1 agent2) down)" 2139 2188)
  ("(relativeY(agent1 agent2) stable)" 2188 2192)
  ("(relativeY(agent1 agent2) up)" 2192 2243)
  ("(relativeY(agent1 agent2) stable)" 2243 2246)
  ("(relativeY(agent1 agent2) down)" 2246 2300)
  ("(relativeY(agent1 agent2) stable)" 2300 2304)
  ("(relativeY(agent1 agent2) up)" 2304 2337)
  ("(relativeY(agent1 agent2) stable)" 2337 2341)
  ("(relativeY(agent1 agent2) down)" 2341 2354)
  ("(x(wall1) 3)" 25 524)
  ("(x(wall1) stable)" 26 524)
  ("(y(wall1) 3)" 25 524)
  ("(y(wall1) stable)" 26 524)
  ("(speed(wall1) 3)" 25 524)
  ("(speed(wall1) stable)" 26 524)
  ("(heading(wall1) 3)" 50 499)
  ("(heading(wall1) stable)" 51 499)
  ("(distance(agent1 wall1) 1)" 25 102)
  ("(distance(agent1 wall1) 2)" 102 122)
  ("(distance(agent1 wall1) 3)" 122 145)
  ("(distance(agent1 wall1) 4)" 145 498)
  ("(distance(agent1 wall1) 3)" 498 524)
  ("(distance(agent1 wall1) down)" 26 181)
  ("(distance(agent1 wall1) stable)" 181 188)
  ("(distance(agent1 wall1) up)" 188 235)
  ("(distance(agent1 wall1) stable)" 235 247)
  ("(distance(agent1 wall1) down)" 247 324)
  ("(distance(agent1 wall1) stable)" 324 450)
  ("(distance(agent1 wall1) up)" 450 524)
  ("(relativeX(agent1 wall1) 1)" 25 102)
  ("(relativeX(agent1 wall1) 2)" 102 122)
  ("(relativeX(agent1 wall1) 3)" 122 145)
  ("(relativeX(agent1 wall1) 4)" 145 498)
  ("(relativeX(agent1 wall1) 3)" 498 524)
  ("(relativeX(agent1 wall1) down)" 26 181)
  ("(relativeX(agent1 wall1) stable)" 181 188)
  ("(relativeX(agent1 wall1) up)" 188 235)
  ("(relativeX(agent1 wall1) stable)" 235 247)
  ("(relativeX(agent1 wall1) down)" 247 324)
  ("(relativeX(agent1 wall1) stable)" 324 450)
  ("(relativeX(agent1 wall1) up)" 450 524)
  ("(relativeY(agent1 wall1) 5)" 25 87)
  ("(relativeY(agent1 wall1) 4)" 87 99)
  ("(relativeY(agent1 wall1) 3)" 99 109)
  ("(relativeY(agent1 wall1) 2)" 109 123)
  ("(relativeY(agent1 wall1) 1)" 123 205)
  ("(relativeY(agent1 wall1) 2)" 205 229)
  ("(relativeY(agent1 wall1) 3)" 229 346)
  ("(relativeY(agent1 wall1) 2)" 346 454)
  ("(relativeY(agent1 wall1) 3)" 454 483)
  ("(relativeY(agent1 wall1) 4)" 483 499)
  ("(relativeY(agent1 wall1) 5)" 499 524)
  ("(relativeY(agent1 wall1) up)" 26 158)
  ("(relativeY(agent1 wall1) stable)" 158 161)
  ("(relativeY(agent1 wall1) down)" 161 255)
  ("(relativeY(agent1 wall1) stable)" 255 259)
  ("(relativeY(agent1 wall1) up)" 259 355)
  ("(relativeY(agent1 wall1) stable)" 355 441)
  ("(relativeY(agent1 wall1) down)" 441 524)
  ("(x(wall4) 3)" 25 278)
  ("(x(wall4) 3)" 1137 1206)
  ("(x(wall4) 3)" 1774 1796)
  ("(x(wall4) stable)" 26 278)
  ("(x(wall4) stable)" 1138 1206)
  ("(x(wall4) stable)" 1775 1796)
  ("(y(wall4) 3)" 25 278)
  ("(y(wall4) 3)" 1137 1206)
  ("(y(wall4) 3)" 1774 1796)
  ("(y(wall4) stable)" 26 278)
  ("(y(wall4) stable)" 1138 1206)
  ("(y(wall4) stable)" 1775 1796)
  ("(speed(wall4) 3)" 25 278)
  ("(speed(wall4) 3)" 1137 1206)
  ("(speed(wall4) 3)" 1774 1796)
  ("(speed(wall4) stable)" 26 278)
  ("(speed(wall4) stable)" 1138 1206)
  ("(speed(wall4) stable)" 1775 1796)
  ("(heading(wall4) 3)" 50 253)
  ("(heading(wall4) 3)" 1162 1181)
  ("(heading(wall4) stable)" 51 253)
  ("(heading(wall4) stable)" 1163 1181)
  ("novel(agent1 wall4)" 1840 1923)
  ("novel(agent1 wall4)" 1750 1830)
  ("novel(agent1 wall4)" 1113 1193)
  ("(distance(agent1 wall4) 2)" 25 41)
  ("(distance(agent1 wall4) 3)" 41 84)
  ("(distance(agent1 wall4) 4)" 84 124)
  ("(distance(agent1 wall4) 5)" 124 202)
  ("(distance(agent1 wall4) 4)" 202 278)
  ("(distance(agent1 wall4) 1)" 1137 1206)
  ("(distance(agent1 wall4) 1)" 1774 1796)
  ("(distance(agent1 wall4) down)" 26 156)
  ("(distance(agent1 wall4) stable)" 156 163)
  ("(distance(agent1 wall4) up)" 163 252)
  ("(distance(agent1 wall4) stable)" 252 263)
  ("(distance(agent1 wall4) down)" 263 278)
  ("(distance(agent1 wall4) down)" 1138 1206)
  ("(distance(agent1 wall4) down)" 1775 1796)
  ("(relativeX(agent1 wall4) 4)" 25 278)
  ("(relativeX(agent1 wall4) 1)" 1137 1206)
  ("(relativeX(agent1 wall4) 1)" 1774 1796)
  ("(relativeX(agent1 wall4) down)" 26 152)
  ("(relativeX(agent1 wall4) stable)" 152 278)
  ("(relativeX(agent1 wall4) down)" 1138 1206)
  ("(relativeX(agent1 wall4) down)" 1775 1796)
  ("(relativeY(agent1 wall4) 4)" 25 41)
  ("(relativeY(agent1 wall4) 3)" 41 84)
  ("(relativeY(agent1 wall4) 2)" 84 124)
  ("(relativeY(agent1 wall4) 1)" 124 202)
  ("(relativeY(agent1 wall4) 2)" 202 278)
  ("(relativeY(agent1 wall4) 5)" 1137 1206)
  ("(relativeY(agent1 wall4) 5)" 1774 1796)
  ("(relativeY(agent1 wall4) up)" 26 156)
  ("(relativeY(agent1 wall4) stable)" 156 163)
  ("(relativeY(agent1 wall4) down)" 163 252)
  ("(relativeY(agent1 wall4) stable)" 252 263)
  ("(relativeY(agent1 wall4) up)" 263 278)
  ("(relativeY(agent1 wall4) up)" 1138 1206)
  ("(relativeY(agent1 wall4) up)" 1775 1796)
 ))
(8
 (
  ("(x(agent1) 1)" 25 297)
  ("(x(agent1) 2)" 297 345)
  ("(x(agent1) 3)" 345 388)
  ("(x(agent1) 4)" 388 1940)
  ("(x(agent1) down)" 26 424)
  ("(x(agent1) stable)" 424 433)
  ("(x(agent1) up)" 433 456)
  ("(x(agent1) stable)" 456 480)
  ("(x(agent1) down)" 480 493)
  ("(x(agent1) stable)" 493 519)
  ("(x(agent1) up)" 519 547)
  ("(x(agent1) stable)" 547 563)
  ("(x(agent1) down)" 563 593)
  ("(x(agent1) stable)" 593 610)
  ("(x(agent1) up)" 610 640)
  ("(x(agent1) stable)" 640 656)
  ("(x(agent1) down)" 656 686)
  ("(x(agent1) stable)" 686 702)
  ("(x(agent1) up)" 702 744)
  ("(x(agent1) stable)" 744 758)
  ("(x(agent1) down)" 758 799)
  ("(x(agent1) stable)" 799 819)
  ("(x(agent1) up)" 819 835)
  ("(x(agent1) stable)" 835 853)
  ("(x(agent1) down)" 853 874)
  ("(x(agent1) stable)" 874 898)
  ("(x(agent1) up)" 898 919)
  ("(x(agent1) stable)" 919 937)
  ("(x(agent1) down)" 937 957)
  ("(x(agent1) stable)" 957 982)
  ("(x(agent1) up)" 982 999)
  ("(x(agent1) stable)" 999 1017)
  ("(x(agent1) down)" 1017 1035)
  ("(x(agent1) stable)" 1035 1056)
  ("(x(agent1) up)" 1056 1088)
  ("(x(agent1) stable)" 1088 1104)
  ("(x(agent1) down)" 1104 1134)
  ("(x(agent1) stable)" 1134 1155)
  ("(x(agent1) up)" 1155 1173)
  ("(x(agent1) stable)" 1173 1190)
  ("(x(agent1) down)" 1190 1210)
  ("(x(agent1) stable)" 1210 1229)
  ("(x(agent1) up)" 1229 1264)
  ("(x(agent1) stable)" 1264 1278)
  ("(x(agent1) down)" 1278 1308)
  ("(x(agent1) stable)" 1308 1321)
  ("(x(agent1) up)" 1321 1362)
  ("(x(agent1) stable)" 1362 1374)
  ("(x(agent1) down)" 1374 1414)
  ("(x(agent1) stable)" 1414 1433)
  ("(x(agent1) up)" 1433 1446)
  ("(x(agent1) stable)" 1446 1461)
  ("(x(agent1) down)" 1461 1479)
  ("(x(agent1) stable)" 1479 1503)
  ("(x(agent1) up)" 1503 1521)
  ("(x(agent1) stable)" 1521 1536)
  ("(x(agent1) down)" 1536 1557)
  ("(x(agent1) stable)" 1557 1579)
  ("(x(agent1) up)" 1579 1600)
  ("(x(agent1) stable)" 1600 1615)
  ("(x(agent1) down)" 1615 1638)
  ("(x(agent1) stable)" 1638 1659)
  ("(x(agent1) up)" 1659 1681)
  ("(x(agent1) stable)" 1681 1695)
  ("(x(agent1) down)" 1695 1719)
  ("(x(agent1) stable)" 1719 1738)
  ("(x(agent1) up)" 1738 1765)
  ("(x(agent1) stable)" 1765 1779)
  ("(x(agent1) down)" 1779 1806)
  ("(x(agent1) stable)" 1806 1823)
  ("(x(agent1) up)" 1823 1849)
  ("(x(agent1) stable)" 1849 1863)
  ("(x(agent1) down)" 1863 1889)
  ("(x(agent1) stable)" 1889 1903)
  ("(x(agent1) up)" 1903 1940)
  ("(y(agent1) 5)" 25 241)
  ("(y(agent1) 4)" 241 340)
  ("(y(agent1) 3)" 340 381)
  ("(y(agent1) 2)" 381 436)
  ("(y(agent1) 3)" 436 485)
  ("(y(agent1) 2)" 485 640)
  ("(y(agent1) 3)" 640 656)
  ("(y(agent1) 2)" 656 728)
  ("(y(agent1) 3)" 728 772)
  ("(y(agent1) 2)" 772 1265)
  ("(y(agent1) 3)" 1265 1276)
  ("(y(agent1) 2)" 1276 1344)
  ("(y(agent1) 3)" 1344 1390)
  ("(y(agent1) 2)" 1390 1928)
  ("(y(agent1) 3)" 1928 1940)
  ("(y(agent1) up)" 26 407)
  ("(y(agent1) stable)" 407 410)
  ("(y(agent1) down)" 410 460)
  ("(y(agent1) stable)" 460 463)
  ("(y(agent1) up)" 463 517)
  ("(y(agent1) stable)" 517 521)
  ("(y(agent1) down)" 521 556)
  ("(y(agent1) stable)" 556 560)
  ("(y(agent1) up)" 560 597)
  ("(y(agent1) stable)" 597 601)
  ("(y(agent1) down)" 601 647)
  ("(y(agent1) stable)" 647 651)
  ("(y(agent1) up)" 651 694)
  ("(y(agent1) stable)" 694 698)
  ("(y(agent1) down)" 698 749)
  ("(y(agent1) stable)" 749 753)
  ("(y(agent1) up)" 753 805)
  ("(y(agent1) stable)" 805 809)
  ("(y(agent1) down)" 809 843)
  ("(y(agent1) stable)" 843 847)
  ("(y(agent1) up)" 847 884)
  ("(y(agent1) stable)" 884 889)
  ("(y(agent1) down)" 889 926)
  ("(y(agent1) stable)" 926 931)
  ("(y(agent1) up)" 931 966)
  ("(y(agent1) stable)" 966 972)
  ("(y(agent1) down)" 972 1007)
  ("(y(agent1) stable)" 1007 1011)
  ("(y(agent1) up)" 1011 1045)
  ("(y(agent1) stable)" 1045 1050)
  ("(y(agent1) down)" 1050 1095)
  ("(y(agent1) stable)" 1095 1098)
  ("(y(agent1) up)" 1098 1141)
  ("(y(agent1) stable)" 1141 1146)
  ("(y(agent1) down)" 1146 1180)
  ("(y(agent1) stable)" 1180 1185)
  ("(y(agent1) up)" 1185 1219)
  ("(y(agent1) stable)" 1219 1224)
  ("(y(agent1) down)" 1224 1270)
  ("(y(agent1) stable)" 1270 1273)
  ("(y(agent1) up)" 1273 1313)
  ("(y(agent1) stable)" 1313 1317)
  ("(y(agent1) down)" 1317 1367)
  ("(y(agent1) stable)" 1367 1369)
  ("(y(agent1) up)" 1369 1420)
  ("(y(agent1) stable)" 1420 1425)
  ("(y(agent1) down)" 1425 1452)
  ("(y(agent1) stable)" 1452 1456)
  ("(y(agent1) up)" 1456 1487)
  ("(y(agent1) stable)" 1487 1493)
  ("(y(agent1) down)" 1493 1528)
  ("(y(agent1) stable)" 1528 1532)
  ("(y(agent1) up)" 1532 1565)
  ("(y(agent1) stable)" 1565 1570)
  ("(y(agent1) down)" 1570 1607)
  ("(y(agent1) stable)" 1607 1611)
  ("(y(agent1) up)" 1611 1645)
  ("(y(agent1) stable)" 1645 1650)
  ("(y(agent1) down)" 1650 1687)
  ("(y(agent1) stable)" 1687 1691)
  ("(y(agent1) up)" 1691 1726)
  ("(y(agent1) stable)" 1726 1731)
  ("(y(agent1) down)" 1731 1771)
  ("(y(agent1) stable)" 1771 1774)
  ("(y(agent1) up)" 1774 1812)
  ("(y(agent1) stable)" 1812 1816)
  ("(y(agent1) down)" 1816 1855)
  ("(y(agent1) stable)" 1855 1858)
  ("(y(agent1) up)" 1858 1895)
  ("(y(agent1) stable)" 1895 1898)
  ("(y(agent1) down)" 1898 1940)
  ("(speed(agent1) 4)" 25 28)
  ("(speed(agent1) 3)" 28 39)
  ("(speed(agent1) 2)" 39 56)
  ("(speed(agent1) 1)" 56 415)
  ("(speed(agent1) 2)" 415 427)
  ("(speed(agent1) 3)" 427 434)
  ("(speed(agent1) 4)" 434 492)
  ("(speed(agent1) 3)" 492 523)
  ("(speed(agent1) 4)" 523 603)
  ("(speed(agent1) 3)" 603 608)
  ("(speed(agent1) 4)" 608 690)
  ("(speed(agent1) 3)" 690 713)
  ("(speed(agent1) 4)" 713 777)
  ("(speed(agent1) 3)" 777 810)
  ("(speed(agent1) 4)" 810 825)
  ("(speed(agent1) 5)" 825 835)
  ("(speed(agent1) 4)" 835 907)
  ("(speed(agent1) 5)" 907 919)
  ("(speed(agent1) 4)" 919 988)
  ("(speed(agent1) 5)" 988 1003)
  ("(speed(agent1) 4)" 1003 1163)
  ("(speed(agent1) 5)" 1163 1173)
  ("(speed(agent1) 4)" 1173 1299)
  ("(speed(agent1) 3)" 1299 1346)
  ("(speed(agent1) 4)" 1346 1385)
  ("(speed(agent1) 3)" 1385 1429)
  ("(speed(agent1) 4)" 1429 1487)
  ("(speed(agent1) 3)" 1487 1497)
  ("(speed(agent1) 4)" 1497 1562)
  ("(speed(agent1) 3)" 1562 1577)
  ("(speed(agent1) 4)" 1577 1640)
  ("(speed(agent1) 3)" 1640 1658)
  ("(speed(agent1) 4)" 1658 1720)
  ("(speed(agent1) 3)" 1720 1742)
  ("(speed(agent1) 4)" 1742 1803)
  ("(speed(agent1) 3)" 1803 1827)
  ("(speed(agent1) 4)" 1827 1886)
  ("(speed(agent1) 3)" 1886 1918)
  ("(speed(agent1) 4)" 1918 1940)
  ("(speed(agent1) up)" 26 220)
  ("(speed(agent1) stable)" 220 296)
  ("(speed(agent1) down)" 296 332)
  ("(speed(agent1) stable)" 332 365)
  ("(speed(agent1) up)" 365 371)
  ("(speed(agent1) stable)" 371 383)
  ("(speed(agent1) down)" 383 467)
  ("(speed(agent1) stable)" 467 468)
  ("(speed(agent1) up)" 468 513)
  ("(speed(agent1) stable)" 513 514)
  ("(speed(agent1) down)" 514 544)
  ("(speed(agent1) stable)" 544 563)
  ("(speed(agent1) up)" 563 571)
  ("(speed(agent1) down)" 571 574)
  ("(speed(agent1) stable)" 574 575)
  ("(speed(agent1) up)" 575 605)
  ("(speed(agent1) stable)" 605 606)
  ("(speed(agent1) down)" 606 653)
  ("(speed(agent1) stable)" 653 654)
  ("(speed(agent1) up)" 654 704)
  ("(speed(agent1) stable)" 704 705)
  ("(speed(agent1) down)" 705 755)
  ("(speed(agent1) stable)" 755 756)
  ("(speed(agent1) up)" 756 801)
  ("(speed(agent1) down)" 801 826)
  ("(speed(agent1) stable)" 826 827)
  ("(speed(agent1) up)" 827 857)
  ("(speed(agent1) down)" 857 861)
  ("(speed(agent1) stable)" 861 862)
  ("(speed(agent1) up)" 862 888)
  ("(speed(agent1) stable)" 888 889)
  ("(speed(agent1) down)" 889 909)
  ("(speed(agent1) up)" 909 940)
  ("(speed(agent1) down)" 940 945)
  ("(speed(agent1) up)" 945 970)
  ("(speed(agent1) stable)" 970 971)
  ("(speed(agent1) down)" 971 991)
  ("(speed(agent1) up)" 991 1019)
  ("(speed(agent1) down)" 1019 1025)
  ("(speed(agent1) stable)" 1025 1026)
  ("(speed(agent1) up)" 1026 1055)
  ("(speed(agent1) down)" 1055 1101)
  ("(speed(agent1) stable)" 1101 1102)
  ("(speed(agent1) up)" 1102 1113)
  ("(speed(agent1) stable)" 1113 1115)
  ("(speed(agent1) up)" 1115 1141)
  ("(speed(agent1) stable)" 1141 1142)
  ("(speed(agent1) down)" 1142 1164)
  ("(speed(agent1) stable)" 1164 1165)
  ("(speed(agent1) up)" 1165 1193)
  ("(speed(agent1) down)" 1193 1198)
  ("(speed(agent1) stable)" 1198 1199)
  ("(speed(agent1) up)" 1199 1230)
  ("(speed(agent1) stable)" 1230 1231)
  ("(speed(agent1) down)" 1231 1261)
  ("(speed(agent1) stable)" 1261 1266)
  ("(speed(agent1) up)" 1266 1286)
  ("(speed(agent1) down)" 1286 1289)
  ("(speed(agent1) up)" 1289 1323)
  ("(speed(agent1) stable)" 1323 1324)
  ("(speed(agent1) down)" 1324 1372)
  ("(speed(agent1) stable)" 1372 1373)
  ("(speed(agent1) up)" 1373 1413)
  ("(speed(agent1) down)" 1413 1440)
  ("(speed(agent1) up)" 1440 1462)
  ("(speed(agent1) down)" 1462 1469)
  ("(speed(agent1) stable)" 1469 1470)
  ("(speed(agent1) up)" 1470 1492)
  ("(speed(agent1) stable)" 1492 1493)
  ("(speed(agent1) down)" 1493 1513)
  ("(speed(agent1) up)" 1513 1539)
  ("(speed(agent1) down)" 1539 1545)
  ("(speed(agent1) stable)" 1545 1546)
  ("(speed(agent1) up)" 1546 1570)
  ("(speed(agent1) down)" 1570 1590)
  ("(speed(agent1) up)" 1590 1619)
  ("(speed(agent1) down)" 1619 1624)
  ("(speed(agent1) stable)" 1624 1625)
  ("(speed(agent1) up)" 1625 1650)
  ("(speed(agent1) down)" 1650 1670)
  ("(speed(agent1) up)" 1670 1700)
  ("(speed(agent1) down)" 1700 1705)
  ("(speed(agent1) stable)" 1705 1706)
  ("(speed(agent1) up)" 1706 1732)
  ("(speed(agent1) stable)" 1732 1733)
  ("(speed(agent1) down)" 1733 1752)
  ("(speed(agent1) stable)" 1752 1778)
  ("(speed(agent1) up)" 1778 1785)
  ("(speed(agent1) down)" 1785 1789)
  ("(speed(agent1) stable)" 1789 1790)
  ("(speed(agent1) up)" 1790 1816)
  ("(speed(agent1) stable)" 1816 1817)
  ("(speed(agent1) down)" 1817 1837)
  ("(speed(agent1) up)" 1837 1868)
  ("(speed(agent1) down)" 1868 1873)
  ("(speed(agent1) up)" 1873 1904)
  ("(speed(agent1) stable)" 1904 1905)
  ("(speed(agent1) down)" 1905 1940)
  ("(heading(agent1) 3)" 50 57)
  ("(heading(agent1) 2)" 57 99)
  ("(heading(agent1) 1)" 99 388)
  ("(heading(agent1) 2)" 388 414)
  ("(heading(agent1) 3)" 414 434)
  ("(heading(agent1) 4)" 434 462)
  ("(heading(agent1) 5)" 462 534)
  ("(heading(agent1) 4)" 534 1915)
  ("(heading(agent1) up)" 51 271)
  ("(heading(agent1) stable)" 271 282)
  ("(heading(agent1) down)" 282 493)
  ("(heading(agent1) stable)" 493 504)
  ("(heading(agent1) up)" 504 590)
  ("(heading(agent1) stable)" 590 1915)
  ("(energy(agent1) 1)" 25 533)
  ("(energy(agent1) 2)" 533 904)
  ("(energy(agent1) 3)" 904 1221)
  ("(energy(agent1) 4)" 1221 1476)
  ("(energy(agent1) 5)" 1476 1940)
  ("(energy(agent1) stable)" 26 384)
  ("(energy(agent1) down)" 384 435)
  ("(energy(agent1) stable)" 435 486)
  ("(energy(agent1) down)" 486 537)
  ("(energy(agent1) stable)" 537 572)
  ("(energy(agent1) down)" 572 623)
  ("(energy(agent1) stable)" 623 667)
  ("(energy(agent1) down)" 667 718)
  ("(energy(agent1) stable)" 718 776)
  ("(energy(agent1) down)" 776 827)
  ("(energy(agent1) stable)" 827 858)
  ("(energy(agent1) down)" 858 909)
  ("(energy(agent1) stable)" 909 941)
  ("(energy(agent1) down)" 941 992)
  ("(energy(agent1) stable)" 992 1020)
  ("(energy(agent1) down)" 1020 1071)
  ("(energy(agent1) stable)" 1071 1114)
  ("(energy(agent1) down)" 1114 1165)
  ("(energy(agent1) stable)" 1165 1194)
  ("(energy(agent1) down)" 1194 1245)
  ("(energy(agent1) stable)" 1245 1287)
  ("(energy(agent1) down)" 1287 1338)
  ("(energy(agent1) stable)" 1338 1390)
  ("(energy(agent1) down)" 1390 1441)
  ("(energy(agent1) stable)" 1441 1463)
  ("(energy(agent1) down)" 1463 1514)
  ("(energy(agent1) stable)" 1514 1540)
  ("(energy(agent1) down)" 1540 1591)
  ("(energy(agent1) stable)" 1591 1620)
  ("(energy(agent1) down)" 1620 1671)
  ("(energy(agent1) stable)" 1671 1701)
  ("(energy(agent1) down)" 1701 1752)
  ("(energy(agent1) stable)" 1752 1786)
  ("(energy(agent1) down)" 1786 1837)
  ("(energy(agent1) stable)" 1837 1869)
  ("(energy(agent1) down)" 1869 1920)
  ("(energy(agent1) stable)" 1920 1940)
  ("(arousal(agent1) 5)" 25 427)
  ("(arousal(agent1) 4)" 427 519)
  ("(arousal(agent1) 3)" 519 611)
  ("(arousal(agent1) 2)" 611 1940)
  ("(arousal(agent1) down)" 26 288)
  ("(arousal(agent1) stable)" 288 304)
  ("(arousal(agent1) up)" 304 458)
  ("(arousal(agent1) stable)" 458 474)
  ("(arousal(agent1) down)" 474 485)
  ("(arousal(agent1) up)" 485 536)
  ("(arousal(agent1) down)" 536 571)
  ("(arousal(agent1) up)" 571 622)
  ("(arousal(agent1) down)" 622 666)
  ("(arousal(agent1) up)" 666 717)
  ("(arousal(agent1) down)" 717 775)
  ("(arousal(agent1) up)" 775 826)
  ("(arousal(agent1) down)" 826 857)
  ("(arousal(agent1) up)" 857 908)
  ("(arousal(agent1) down)" 908 940)
  ("(arousal(agent1) up)" 940 991)
  ("(arousal(agent1) down)" 991 1019)
  ("(arousal(agent1) up)" 1019 1070)
  ("(arousal(agent1) down)" 1070 1113)
  ("(arousal(agent1) up)" 1113 1164)
  ("(arousal(agent1) down)" 1164 1193)
  ("(arousal(agent1) up)" 1193 1244)
  ("(arousal(agent1) down)" 1244 1286)
  ("(arousal(agent1) up)" 1286 1337)
  ("(arousal(agent1) down)" 1337 1389)
  ("(arousal(agent1) up)" 1389 1440)
  ("(arousal(agent1) down)" 1440 1462)
  ("(arousal(agent1) stable)" 1462 1513)
  ("(arousal(agent1) down)" 1513 1539)
  ("(arousal(agent1) up)" 1539 1590)
  ("(arousal(agent1) down)" 1590 1619)
  ("(arousal(agent1) up)" 1619 1670)
  ("(arousal(agent1) down)" 1670 1700)
  ("(arousal(agent1) up)" 1700 1751)
  ("(arousal(agent1) down)" 1751 1785)
  ("(arousal(agent1) up)" 1785 1836)
  ("(arousal(agent1) down)" 1836 1868)
  ("(arousal(agent1) up)" 1868 1919)
  ("(arousal(agent1) down)" 1919 1940)
  ("(valence(agent1) 5)" 25 417)
  ("(valence(agent1) 4)" 417 494)
  ("(valence(agent1) 3)" 494 518)
  ("(valence(agent1) 2)" 518 1940)
  ("(valence(agent1) stable)" 26 383)
  ("(valence(agent1) up)" 383 434)
  ("(valence(agent1) down)" 434 485)
  ("(valence(agent1) up)" 485 536)
  ("(valence(agent1) down)" 536 571)
  ("(valence(agent1) up)" 571 622)
  ("(valence(agent1) down)" 622 666)
  ("(valence(agent1) up)" 666 717)
  ("(valence(agent1) down)" 717 775)
  ("(valence(agent1) up)" 775 826)
  ("(valence(agent1) down)" 826 857)
  ("(valence(agent1) up)" 857 908)
  ("(valence(agent1) down)" 908 940)
  ("(valence(agent1) up)" 940 991)
  ("(valence(agent1) down)" 991 1019)
  ("(valence(agent1) up)" 1019 1070)
  ("(valence(agent1) down)" 1070 1113)
  ("(valence(agent1) up)" 1113 1164)
  ("(valence(agent1) down)" 1164 1193)
  ("(valence(agent1) up)" 1193 1244)
  ("(valence(agent1) down)" 1244 1286)
  ("(valence(agent1) up)" 1286 1337)
  ("(valence(agent1) down)" 1337 1389)
  ("(valence(agent1) up)" 1389 1440)
  ("(valence(agent1) down)" 1440 1462)
  ("(valence(agent1) up)" 1462 1513)
  ("(valence(agent1) down)" 1513 1539)
  ("(valence(agent1) up)" 1539 1590)
  ("(valence(agent1) down)" 1590 1619)
  ("(valence(agent1) up)" 1619 1670)
  ("(valence(agent1) down)" 1670 1700)
  ("(valence(agent1) up)" 1700 1751)
  ("(valence(agent1) down)" 1751 1785)
  ("(valence(agent1) up)" 1785 1836)
  ("(valence(agent1) down)" 1836 1868)
  ("(valence(agent1) up)" 1868 1919)
  ("(valence(agent1) down)" 1919 1940)
  ("(goal(agent1) WanderGoal)" 0 304)
  ("(goal(agent1) PursueGoal)" 304 1965)
  ("(state(agent1) wander)" 0 304)
  ("(state(agent1) charge)" 304 408)
  ("(state(agent1) back-away)" 408 437)
  ("(state(agent1) charge)" 437 510)
  ("(state(agent1) back-away)" 510 535)
  ("(state(agent1) charge)" 535 596)
  ("(state(agent1) back-away)" 596 625)
  ("(state(agent1) charge)" 625 691)
  ("(state(agent1) back-away)" 691 725)
  ("(state(agent1) charge)" 725 800)
  ("(state(agent1) back-away)" 800 823)
  ("(state(agent1) charge)" 823 882)
  ("(state(agent1) back-away)" 882 907)
  ("(state(agent1) charge)" 907 965)
  ("(state(agent1) back-away)" 965 988)
  ("(state(agent1) charge)" 988 1044)
  ("(state(agent1) back-away)" 1044 1073)
  ("(state(agent1) charge)" 1073 1138)
  ("(state(agent1) back-away)" 1138 1161)
  ("(state(agent1) charge)" 1161 1218)
  ("(state(agent1) back-away)" 1218 1249)
  ("(state(agent1) charge)" 1249 1311)
  ("(state(agent1) back-away)" 1311 1343)
  ("(state(agent1) charge)" 1343 1414)
  ("(state(agent1) back-away)" 1414 1434)
  ("(state(agent1) charge)" 1434 1487)
  ("(state(agent1) back-away)" 1487 1509)
  ("(state(agent1) charge)" 1509 1564)
  ("(state(agent1) back-away)" 1564 1587)
  ("(state(agent1) charge)" 1587 1644)
  ("(state(agent1) back-away)" 1644 1667)
  ("(state(agent1) charge)" 1667 1725)
  ("(state(agent1) back-away)" 1725 1750)
  ("(state(agent1) charge)" 1750 1810)
  ("(state(agent1) back-away)" 1810 1835)
  ("(state(agent1) charge)" 1835 1893)
  ("(state(agent1) back-away)" 1893 1923)
  ("(state(agent1) charge)" 1923 1965)
  ("(x(agent2) 5)" 328 393)
  ("(x(agent2) 4)" 393 400)
  ("(x(agent2) 3)" 400 408)
  ("(x(agent2) 2)" 408 532)
  ("(x(agent2) 3)" 532 581)
  ("(x(agent2) 2)" 581 618)
  ("(x(agent2) 3)" 618 680)
  ("(x(agent2) 2)" 680 708)
  ("(x(agent2) 3)" 708 728)
  ("(x(agent2) 4)" 728 771)
  ("(x(agent2) 3)" 771 790)
  ("(x(agent2) 2)" 790 826)
  ("(x(agent2) 3)" 826 863)
  ("(x(agent2) 2)" 863 907)
  ("(x(agent2) 3)" 907 946)
  ("(x(agent2) 2)" 946 993)
  ("(x(agent2) 3)" 993 1023)
  ("(x(agent2) 2)" 1023 1067)
  ("(x(agent2) 3)" 1067 1122)
  ("(x(agent2) 2)" 1122 1166)
  ("(x(agent2) 3)" 1166 1197)
  ("(x(agent2) 2)" 1197 1241)
  ("(x(agent2) 3)" 1241 1300)
  ("(x(agent2) 2)" 1300 1328)
  ("(x(agent2) 3)" 1328 1345)
  ("(x(agent2) 4)" 1345 1389)
  ("(x(agent2) 3)" 1389 1406)
  ("(x(agent2) 2)" 1406 1440)
  ("(x(agent2) 3)" 1440 1467)
  ("(x(agent2) 2)" 1467 1512)
  ("(x(agent2) 3)" 1512 1545)
  ("(x(agent2) 2)" 1545 1588)
  ("(x(agent2) 3)" 1588 1627)
  ("(x(agent2) 2)" 1627 1667)
  ("(x(agent2) 3)" 1667 1709)
  ("(x(agent2) 2)" 1709 1747)
  ("(x(agent2) 3)" 1747 1797)
  ("(x(agent2) 2)" 1797 1831)
  ("(x(agent2) 3)" 1831 1881)
  ("(x(agent2) 2)" 1881 1910)
  ("(x(agent2) 3)" 1910 1929)
  ("(x(agent2) 4)" 1929 1940)
  ("(x(agent2) up)" 329 427)
  ("(x(agent2) stable)" 427 428)
  ("(x(agent2) down)" 428 467)
  ("(x(agent2) stable)" 467 469)
  ("(x(agent2) up)" 469 506)
  ("(x(agent2) stable)" 506 508)
  ("(x(agent2) down)" 508 557)
  ("(x(agent2) stable)" 557 558)
  ("(x(agent2) up)" 558 600)
  ("(x(agent2) stable)" 600 602)
  ("(x(agent2) down)" 602 649)
  ("(x(agent2) stable)" 649 650)
  ("(x(agent2) up)" 650 694)
  ("(x(agent2) stable)" 694 696)
  ("(x(agent2) down)" 696 750)
  ("(x(agent2) stable)" 750 751)
  ("(x(agent2) up)" 751 807)
  ("(x(agent2) stable)" 807 809)
  ("(x(agent2) down)" 809 845)
  ("(x(agent2) stable)" 845 846)
  ("(x(agent2) up)" 846 885)
  ("(x(agent2) stable)" 885 887)
  ("(x(agent2) down)" 887 927)
  ("(x(agent2) stable)" 927 929)
  ("(x(agent2) up)" 929 968)
  ("(x(agent2) stable)" 968 971)
  ("(x(agent2) down)" 971 1008)
  ("(x(agent2) stable)" 1008 1010)
  ("(x(agent2) up)" 1010 1046)
  ("(x(agent2) stable)" 1046 1048)
  ("(x(agent2) down)" 1048 1096)
  ("(x(agent2) stable)" 1096 1097)
  ("(x(agent2) up)" 1097 1143)
  ("(x(agent2) stable)" 1143 1145)
  ("(x(agent2) down)" 1145 1182)
  ("(x(agent2) stable)" 1182 1183)
  ("(x(agent2) up)" 1183 1220)
  ("(x(agent2) stable)" 1220 1222)
  ("(x(agent2) down)" 1222 1271)
  ("(x(agent2) stable)" 1271 1272)
  ("(x(agent2) up)" 1272 1315)
  ("(x(agent2) stable)" 1315 1316)
  ("(x(agent2) down)" 1316 1368)
  ("(x(agent2) stable)" 1368 1369)
  ("(x(agent2) up)" 1369 1422)
  ("(x(agent2) stable)" 1422 1424)
  ("(x(agent2) down)" 1424 1454)
  ("(x(agent2) stable)" 1454 1455)
  ("(x(agent2) up)" 1455 1489)
  ("(x(agent2) stable)" 1489 1491)
  ("(x(agent2) down)" 1491 1529)
  ("(x(agent2) stable)" 1529 1531)
  ("(x(agent2) up)" 1531 1566)
  ("(x(agent2) stable)" 1566 1568)
  ("(x(agent2) down)" 1568 1608)
  ("(x(agent2) stable)" 1608 1609)
  ("(x(agent2) up)" 1609 1646)
  ("(x(agent2) stable)" 1646 1648)
  ("(x(agent2) down)" 1648 1688)
  ("(x(agent2) stable)" 1688 1690)
  ("(x(agent2) up)" 1690 1728)
  ("(x(agent2) stable)" 1728 1729)
  ("(x(agent2) down)" 1729 1772)
  ("(x(agent2) stable)" 1772 1773)
  ("(x(agent2) up)" 1773 1813)
  ("(x(agent2) stable)" 1813 1815)
  ("(x(agent2) down)" 1815 1856)
  ("(x(agent2) stable)" 1856 1857)
  ("(x(agent2) up)" 1857 1896)
  ("(x(agent2) stable)" 1896 1897)
  ("(x(agent2) down)" 1897 1940)
  ("(y(agent2) 1)" 328 389)
  ("(y(agent2) 2)" 389 397)
  ("(y(agent2) 3)" 397 427)
  ("(y(agent2) 2)" 427 437)
  ("(y(agent2) 1)" 437 483)
  ("(y(agent2) 2)" 483 492)
  ("(y(agent2) 3)" 492 501)
  ("(y(agent2) 4)" 501 539)
  ("(y(agent2) 3)" 539 573)
  ("(y(agent2) 4)" 573 622)
  ("(y(agent2) 3)" 622 634)
  ("(y(agent2) 2)" 634 660)
  ("(y(agent2) 3)" 660 672)
  ("(y(agent2) 4)" 672 691)
  ("(y(agent2) 5)" 691 699)
  ("(y(agent2) 4)" 699 716)
  ("(y(agent2) 3)" 716 725)
  ("(y(agent2) 2)" 725 738)
  ("(y(agent2) 1)" 738 763)
  ("(y(agent2) 2)" 763 776)
  ("(y(agent2) 3)" 776 785)
  ("(y(agent2) 4)" 785 832)
  ("(y(agent2) 3)" 832 856)
  ("(y(agent2) 4)" 856 877)
  ("(y(agent2) 5)" 877 895)
  ("(y(agent2) 4)" 895 917)
  ("(y(agent2) 3)" 917 939)
  ("(y(agent2) 4)" 939 965)
  ("(y(agent2) 5)" 965 971)
  ("(y(agent2) 4)" 971 999)
  ("(y(agent2) 3)" 999 1017)
  ("(y(agent2) 4)" 1017 1044)
  ("(y(agent2) 5)" 1044 1050)
  ("(y(agent2) 4)" 1050 1071)
  ("(y(agent2) 3)" 1071 1084)
  ("(y(agent2) 2)" 1084 1108)
  ("(y(agent2) 3)" 1108 1120)
  ("(y(agent2) 4)" 1120 1169)
  ("(y(agent2) 3)" 1169 1194)
  ("(y(agent2) 4)" 1194 1242)
  ("(y(agent2) 3)" 1242 1253)
  ("(y(agent2) 2)" 1253 1287)
  ("(y(agent2) 3)" 1287 1298)
  ("(y(agent2) 4)" 1298 1329)
  ("(y(agent2) 3)" 1329 1338)
  ("(y(agent2) 2)" 1338 1348)
  ("(y(agent2) 1)" 1348 1386)
  ("(y(agent2) 2)" 1386 1395)
  ("(y(agent2) 3)" 1395 1405)
  ("(y(agent2) 4)" 1405 1442)
  ("(y(agent2) 3)" 1442 1464)
  ("(y(agent2) 4)" 1464 1514)
  ("(y(agent2) 3)" 1514 1543)
  ("(y(agent2) 4)" 1543 1590)
  ("(y(agent2) 3)" 1590 1625)
  ("(y(agent2) 4)" 1625 1669)
  ("(y(agent2) 3)" 1669 1706)
  ("(y(agent2) 4)" 1706 1749)
  ("(y(agent2) 3)" 1749 1764)
  ("(y(agent2) 2)" 1764 1780)
  ("(y(agent2) 3)" 1780 1794)
  ("(y(agent2) 4)" 1794 1834)
  ("(y(agent2) 3)" 1834 1849)
  ("(y(agent2) 2)" 1849 1863)
  ("(y(agent2) 3)" 1863 1877)
  ("(y(agent2) 4)" 1877 1913)
  ("(y(agent2) 3)" 1913 1922)
  ("(y(agent2) 2)" 1922 1935)
  ("(y(agent2) 1)" 1935 1940)
  ("(y(agent2) down)" 329 412)
  ("(y(agent2) up)" 412 461)
  ("(y(agent2) down)" 461 519)
  ("(y(agent2) stable)" 519 520)
  ("(y(agent2) up)" 520 557)
  ("(y(agent2) stable)" 557 558)
  ("(y(agent2) down)" 558 599)
  ("(y(agent2) stable)" 599 600)
  ("(y(agent2) up)" 600 648)
  ("(y(agent2) stable)" 648 649)
  ("(y(agent2) down)" 649 696)
  ("(y(agent2) up)" 696 751)
  ("(y(agent2) stable)" 751 752)
  ("(y(agent2) down)" 752 807)
  ("(y(agent2) up)" 807 844)
  ("(y(agent2) stable)" 844 845)
  ("(y(agent2) down)" 845 886)
  ("(y(agent2) stable)" 886 887)
  ("(y(agent2) up)" 887 929)
  ("(y(agent2) down)" 929 968)
  ("(y(agent2) stable)" 968 969)
  ("(y(agent2) up)" 969 1009)
  ("(y(agent2) down)" 1009 1047)
  ("(y(agent2) stable)" 1047 1048)
  ("(y(agent2) up)" 1048 1096)
  ("(y(agent2) stable)" 1096 1097)
  ("(y(agent2) down)" 1097 1143)
  ("(y(agent2) stable)" 1143 1144)
  ("(y(agent2) up)" 1144 1182)
  ("(y(agent2) stable)" 1182 1183)
  ("(y(agent2) down)" 1183 1221)
  ("(y(agent2) stable)" 1221 1222)
  ("(y(agent2) up)" 1222 1271)
  ("(y(agent2) stable)" 1271 1272)
  ("(y(agent2) down)" 1272 1315)
  ("(y(agent2) up)" 1315 1368)
  ("(y(agent2) down)" 1368 1422)
  ("(y(agent2) stable)" 1422 1423)
  ("(y(agent2) up)" 1423 1454)
  ("(y(agent2) stable)" 1454 1455)
  ("(y(agent2) down)" 1455 1489)
  ("(y(agent2) stable)" 1489 1491)
  ("(y(agent2) up)" 1491 1529)
  ("(y(agent2) stable)" 1529 1530)
  ("(y(agent2) down)" 1530 1567)
  ("(y(agent2) stable)" 1567 1568)
  ("(y(agent2) up)" 1568 1608)
  ("(y(agent2) stable)" 1608 1609)
  ("(y(agent2) down)" 1609 1647)
  ("(y(agent2) stable)" 1647 1648)
  ("(y(agent2) up)" 1648 1688)
  ("(y(agent2) stable)" 1688 1689)
  ("(y(agent2) down)" 1689 1728)
  ("(y(agent2) stable)" 1728 1729)
  ("(y(agent2) up)" 1729 1772)
  ("(y(agent2) stable)" 1772 1773)
  ("(y(agent2) down)" 1773 1814)
  ("(y(agent2) stable)" 1814 1815)
  ("(y(agent2) up)" 1815 1856)
  ("(y(agent2) stable)" 1856 1857)
  ("(y(agent2) down)" 1857 1896)
  ("(y(agent2) stable)" 1896 1897)
  ("(y(agent2) up)" 1897 1940)
  ("(speed(agent2) 1)" 328 426)
  ("(speed(agent2) 2)" 426 431)
  ("(speed(agent2) 3)" 431 441)
  ("(speed(agent2) 4)" 441 480)
  ("(speed(agent2) 3)" 480 496)
  ("(speed(agent2) 2)" 496 521)
  ("(speed(agent2) 3)" 521 530)
  ("(speed(agent2) 4)" 530 588)
  ("(speed(agent2) 3)" 588 618)
  ("(speed(agent2) 4)" 618 673)
  ("(speed(agent2) 3)" 673 695)
  ("(speed(agent2) 2)" 695 711)
  ("(speed(agent2) 3)" 711 729)
  ("(speed(agent2) 4)" 729 770)
  ("(speed(agent2) 3)" 770 784)
  ("(speed(agent2) 2)" 784 808)
  ("(speed(agent2) 3)" 808 817)
  ("(speed(agent2) 4)" 817 825)
  ("(speed(agent2) 5)" 825 829)
  ("(speed(agent2) 4)" 829 878)
  ("(speed(agent2) 3)" 878 897)
  ("(speed(agent2) 4)" 897 907)
  ("(speed(agent2) 5)" 907 911)
  ("(speed(agent2) 4)" 911 962)
  ("(speed(agent2) 3)" 962 978)
  ("(speed(agent2) 4)" 978 989)
  ("(speed(agent2) 5)" 989 1001)
  ("(speed(agent2) 4)" 1001 1042)
  ("(speed(agent2) 3)" 1042 1065)
  ("(speed(agent2) 4)" 1065 1122)
  ("(speed(agent2) 3)" 1122 1154)
  ("(speed(agent2) 4)" 1154 1163)
  ("(speed(agent2) 5)" 1163 1170)
  ("(speed(agent2) 4)" 1170 1215)
  ("(speed(agent2) 3)" 1215 1242)
  ("(speed(agent2) 4)" 1242 1283)
  ("(speed(agent2) 3)" 1283 1301)
  ("(speed(agent2) 2)" 1301 1318)
  ("(speed(agent2) 1)" 1318 1328)
  ("(speed(agent2) 2)" 1328 1342)
  ("(speed(agent2) 3)" 1342 1366)
  ("(speed(agent2) 4)" 1366 1377)
  ("(speed(agent2) 3)" 1377 1386)
  ("(speed(agent2) 2)" 1386 1405)
  ("(speed(agent2) 1)" 1405 1418)
  ("(speed(agent2) 2)" 1418 1428)
  ("(speed(agent2) 3)" 1428 1434)
  ("(speed(agent2) 4)" 1434 1479)
  ("(speed(agent2) 3)" 1479 1505)
  ("(speed(agent2) 4)" 1505 1554)
  ("(speed(agent2) 3)" 1554 1564)
  ("(speed(agent2) 2)" 1564 1575)
  ("(speed(agent2) 3)" 1575 1584)
  ("(speed(agent2) 4)" 1584 1632)
  ("(speed(agent2) 3)" 1632 1642)
  ("(speed(agent2) 2)" 1642 1657)
  ("(speed(agent2) 3)" 1657 1665)
  ("(speed(agent2) 4)" 1665 1711)
  ("(speed(agent2) 3)" 1711 1722)
  ("(speed(agent2) 2)" 1722 1741)
  ("(speed(agent2) 3)" 1741 1748)
  ("(speed(agent2) 4)" 1748 1784)
  ("(speed(agent2) 3)" 1784 1785)
  ("(speed(agent2) 4)" 1785 1793)
  ("(speed(agent2) 3)" 1793 1806)
  ("(speed(agent2) 2)" 1806 1826)
  ("(speed(agent2) 3)" 1826 1833)
  ("(speed(agent2) 4)" 1833 1867)
  ("(speed(agent2) 3)" 1867 1868)
  ("(speed(agent2) 4)" 1868 1877)
  ("(speed(agent2) 3)" 1877 1888)
  ("(speed(agent2) 2)" 1888 1917)
  ("(speed(agent2) 3)" 1917 1940)
  ("(speed(agent2) up)" 329 383)
  ("(speed(agent2) down)" 383 467)
  ("(speed(agent2) up)" 467 513)
  ("(speed(agent2) down)" 513 553)
  ("(speed(agent2) stable)" 553 563)
  ("(speed(agent2) up)" 563 571)
  ("(speed(agent2) down)" 571 574)
  ("(speed(agent2) stable)" 574 575)
  ("(speed(agent2) up)" 575 606)
  ("(speed(agent2) down)" 606 653)
  ("(speed(agent2) stable)" 653 654)
  ("(speed(agent2) up)" 654 704)
  ("(speed(agent2) stable)" 704 705)
  ("(speed(agent2) down)" 705 755)
  ("(speed(agent2) stable)" 755 756)
  ("(speed(agent2) up)" 756 801)
  ("(speed(agent2) down)" 801 826)
  ("(speed(agent2) stable)" 826 827)
  ("(speed(agent2) up)" 827 857)
  ("(speed(agent2) down)" 857 861)
  ("(speed(agent2) stable)" 861 862)
  ("(speed(agent2) up)" 862 888)
  ("(speed(agent2) stable)" 888 889)
  ("(speed(agent2) down)" 889 909)
  ("(speed(agent2) up)" 909 940)
  ("(speed(agent2) down)" 940 945)
  ("(speed(agent2) up)" 945 970)
  ("(speed(agent2) down)" 970 991)
  ("(speed(agent2) up)" 991 1019)
  ("(speed(agent2) down)" 1019 1025)
  ("(speed(agent2) up)" 1025 1055)
  ("(speed(agent2) down)" 1055 1101)
  ("(speed(agent2) stable)" 1101 1102)
  ("(speed(agent2) up)" 1102 1113)
  ("(speed(agent2) down)" 1113 1115)
  ("(speed(agent2) up)" 1115 1141)
  ("(speed(agent2) stable)" 1141 1142)
  ("(speed(agent2) down)" 1142 1164)
  ("(speed(agent2) up)" 1164 1193)
  ("(speed(agent2) down)" 1193 1199)
  ("(speed(agent2) up)" 1199 1230)
  ("(speed(agent2) stable)" 1230 1231)
  ("(speed(agent2) down)" 1231 1262)
  ("(speed(agent2) stable)" 1262 1265)
  ("(speed(agent2) up)" 1265 1286)
  ("(speed(agent2) down)" 1286 1289)
  ("(speed(agent2) up)" 1289 1323)
  ("(speed(agent2) stable)" 1323 1324)
  ("(speed(agent2) down)" 1324 1373)
  ("(speed(agent2) up)" 1373 1413)
  ("(speed(agent2) down)" 1413 1440)
  ("(speed(agent2) up)" 1440 1462)
  ("(speed(agent2) down)" 1462 1469)
  ("(speed(agent2) stable)" 1469 1470)
  ("(speed(agent2) up)" 1470 1492)
  ("(speed(agent2) stable)" 1492 1493)
  ("(speed(agent2) down)" 1493 1513)
  ("(speed(agent2) up)" 1513 1539)
  ("(speed(agent2) down)" 1539 1545)
  ("(speed(agent2) stable)" 1545 1546)
  ("(speed(agent2) up)" 1546 1570)
  ("(speed(agent2) down)" 1570 1590)
  ("(speed(agent2) up)" 1590 1619)
  ("(speed(agent2) down)" 1619 1624)
  ("(speed(agent2) stable)" 1624 1625)
  ("(speed(agent2) up)" 1625 1650)
  ("(speed(agent2) down)" 1650 1670)
  ("(speed(agent2) up)" 1670 1700)
  ("(speed(agent2) down)" 1700 1705)
  ("(speed(agent2) up)" 1705 1732)
  ("(speed(agent2) down)" 1732 1752)
  ("(speed(agent2) stable)" 1752 1756)
  ("(speed(agent2) up)" 1756 1769)
  ("(speed(agent2) stable)" 1769 1778)
  ("(speed(agent2) up)" 1778 1785)
  ("(speed(agent2) down)" 1785 1789)
  ("(speed(agent2) stable)" 1789 1790)
  ("(speed(agent2) up)" 1790 1816)
  ("(speed(agent2) stable)" 1816 1817)
  ("(speed(agent2) down)" 1817 1837)
  ("(speed(agent2) up)" 1837 1868)
  ("(speed(agent2) down)" 1868 1873)
  ("(speed(agent2) up)" 1873 1904)
  ("(speed(agent2) stable)" 1904 1905)
  ("(speed(agent2) down)" 1905 1940)
  ("(heading(agent2) 1)" 353 386)
  ("(heading(agent2) 2)" 386 391)
  ("(heading(agent2) 3)" 391 396)
  ("(heading(agent2) 4)" 396 400)
  ("(heading(agent2) 5)" 400 507)
  ("(heading(agent2) 4)" 507 517)
  ("(heading(agent2) 3)" 517 530)
  ("(heading(agent2) 2)" 530 585)
  ("(heading(agent2) 3)" 585 1467)
  ("(heading(agent2) 2)" 1467 1915)
  ("(heading(agent2) down)" 354 460)
  ("(heading(agent2) stable)" 460 463)
  ("(heading(agent2) up)" 463 554)
  ("(heading(agent2) stable)" 554 565)
  ("(heading(agent2) down)" 565 610)
  ("(heading(agent2) stable)" 610 661)
  ("(heading(agent2) up)" 661 682)
  ("(heading(agent2) stable)" 682 1915)
  ("heard(agent1 agent2)" 384 1965)
  ("novel(agent1 agent2)" 385 457)
  ("novel(agent1 agent2)" 304 379)
  ("collision(agent1 agent2)" 1893 1895)
  ("collision(agent1 agent2)" 1810 1811)
  ("collision(agent1 agent2)" 1725 1727)
  ("collision(agent1 agent2)" 1644 1646)
  ("collision(agent1 agent2)" 1564 1566)
  ("collision(agent1 agent2)" 1487 1488)
  ("collision(agent1 agent2)" 1414 1416)
  ("collision(agent1 agent2)" 1311 1313)
  ("collision(agent1 agent2)" 1218 1219)
  ("collision(agent1 agent2)" 1138 1140)
  ("collision(agent1 agent2)" 1044 1046)
  ("collision(agent1 agent2)" 965 967)
  ("collision(agent1 agent2)" 882 884)
  ("collision(agent1 agent2)" 800 802)
  ("collision(agent1 agent2)" 691 693)
  ("collision(agent1 agent2)" 596 598)
  ("collision(agent1 agent2)" 510 512)
  ("collision(agent1 agent2)" 408 410)
  ("(distance(agent1 agent2) 1)" 328 391)
  ("(distance(agent1 agent2) 2)" 391 399)
  ("(distance(agent1 agent2) 3)" 399 410)
  ("(distance(agent1 agent2) 4)" 410 425)
  ("(distance(agent1 agent2) 3)" 425 440)
  ("(distance(agent1 agent2) 2)" 440 483)
  ("(distance(agent1 agent2) 3)" 483 496)
  ("(distance(agent1 agent2) 4)" 496 536)
  ("(distance(agent1 agent2) 3)" 536 576)
  ("(distance(agent1 agent2) 4)" 576 621)
  ("(distance(agent1 agent2) 3)" 621 640)
  ("(distance(agent1 agent2) 2)" 640 656)
  ("(distance(agent1 agent2) 3)" 656 674)
  ("(distance(agent1 agent2) 4)" 674 714)
  ("(distance(agent1 agent2) 3)" 714 726)
  ("(distance(agent1 agent2) 2)" 726 774)
  ("(distance(agent1 agent2) 3)" 774 787)
  ("(distance(agent1 agent2) 4)" 787 830)
  ("(distance(agent1 agent2) 3)" 830 858)
  ("(distance(agent1 agent2) 4)" 858 913)
  ("(distance(agent1 agent2) 3)" 913 941)
  ("(distance(agent1 agent2) 4)" 941 997)
  ("(distance(agent1 agent2) 3)" 997 1019)
  ("(distance(agent1 agent2) 4)" 1019 1070)
  ("(distance(agent1 agent2) 3)" 1070 1091)
  ("(distance(agent1 agent2) 2)" 1091 1101)
  ("(distance(agent1 agent2) 3)" 1101 1121)
  ("(distance(agent1 agent2) 4)" 1121 1168)
  ("(distance(agent1 agent2) 3)" 1168 1195)
  ("(distance(agent1 agent2) 4)" 1195 1242)
  ("(distance(agent1 agent2) 3)" 1242 1258)
  ("(distance(agent1 agent2) 2)" 1258 1282)
  ("(distance(agent1 agent2) 3)" 1282 1299)
  ("(distance(agent1 agent2) 4)" 1299 1329)
  ("(distance(agent1 agent2) 3)" 1329 1341)
  ("(distance(agent1 agent2) 2)" 1341 1357)
  ("(distance(agent1 agent2) 1)" 1357 1378)
  ("(distance(agent1 agent2) 2)" 1378 1393)
  ("(distance(agent1 agent2) 3)" 1393 1405)
  ("(distance(agent1 agent2) 4)" 1405 1442)
  ("(distance(agent1 agent2) 3)" 1442 1465)
  ("(distance(agent1 agent2) 4)" 1465 1513)
  ("(distance(agent1 agent2) 3)" 1513 1544)
  ("(distance(agent1 agent2) 4)" 1544 1590)
  ("(distance(agent1 agent2) 3)" 1590 1625)
  ("(distance(agent1 agent2) 4)" 1625 1669)
  ("(distance(agent1 agent2) 3)" 1669 1707)
  ("(distance(agent1 agent2) 4)" 1707 1749)
  ("(distance(agent1 agent2) 3)" 1749 1795)
  ("(distance(agent1 agent2) 4)" 1795 1833)
  ("(distance(agent1 agent2) 3)" 1833 1878)
  ("(distance(agent1 agent2) 4)" 1878 1912)
  ("(distance(agent1 agent2) 3)" 1912 1925)
  ("(distance(agent1 agent2) 2)" 1925 1940)
  ("(distance(agent1 agent2) down)" 329 418)
  ("(distance(agent1 agent2) up)" 418 462)
  ("(distance(agent1 agent2) stable)" 462 463)
  ("(distance(agent1 agent2) down)" 463 515)
  ("(distance(agent1 agent2) stable)" 515 517)
  ("(distance(agent1 agent2) up)" 517 557)
  ("(distance(agent1 agent2) stable)" 557 558)
  ("(distance(agent1 agent2) down)" 558 600)
  ("(distance(agent1 agent2) stable)" 600 601)
  ("(distance(agent1 agent2) up)" 601 648)
  ("(distance(agent1 agent2) stable)" 648 649)
  ("(distance(agent1 agent2) down)" 649 695)
  ("(distance(agent1 agent2) stable)" 695 696)
  ("(distance(agent1 agent2) up)" 696 751)
  ("(distance(agent1 agent2) down)" 751 807)
  ("(distance(agent1 agent2) stable)" 807 808)
  ("(distance(agent1 agent2) up)" 808 844)
  ("(distance(agent1 agent2) stable)" 844 846)
  ("(distance(agent1 agent2) down)" 846 885)
  ("(distance(agent1 agent2) stable)" 885 887)
  ("(distance(agent1 agent2) up)" 887 928)
  ("(distance(agent1 agent2) stable)" 928 929)
  ("(distance(agent1 agent2) down)" 929 968)
  ("(distance(agent1 agent2) stable)" 968 970)
  ("(distance(agent1 agent2) up)" 970 1009)
  ("(distance(agent1 agent2) stable)" 1009 1010)
  ("(distance(agent1 agent2) down)" 1010 1047)
  ("(distance(agent1 agent2) stable)" 1047 1048)
  ("(distance(agent1 agent2) up)" 1048 1096)
  ("(distance(agent1 agent2) stable)" 1096 1097)
  ("(distance(agent1 agent2) down)" 1097 1143)
  ("(distance(agent1 agent2) stable)" 1143 1144)
  ("(distance(agent1 agent2) up)" 1144 1182)
  ("(distance(agent1 agent2) stable)" 1182 1183)
  ("(distance(agent1 agent2) down)" 1183 1221)
  ("(distance(agent1 agent2) stable)" 1221 1222)
  ("(distance(agent1 agent2) up)" 1222 1271)
  ("(distance(agent1 agent2) stable)" 1271 1272)
  ("(distance(agent1 agent2) down)" 1272 1315)
  ("(distance(agent1 agent2) stable)" 1315 1316)
  ("(distance(agent1 agent2) up)" 1316 1368)
  ("(distance(agent1 agent2) down)" 1368 1422)
  ("(distance(agent1 agent2) stable)" 1422 1423)
  ("(distance(agent1 agent2) up)" 1423 1454)
  ("(distance(agent1 agent2) stable)" 1454 1455)
  ("(distance(agent1 agent2) down)" 1455 1489)
  ("(distance(agent1 agent2) stable)" 1489 1491)
  ("(distance(agent1 agent2) up)" 1491 1529)
  ("(distance(agent1 agent2) stable)" 1529 1530)
  ("(distance(agent1 agent2) down)" 1530 1567)
  ("(distance(agent1 agent2) stable)" 1567 1568)
  ("(distance(agent1 agent2) up)" 1568 1608)
  ("(distance(agent1 agent2) stable)" 1608 1609)
  ("(distance(agent1 agent2) down)" 1609 1647)
  ("(distance(agent1 agent2) stable)" 1647 1648)
  ("(distance(agent1 agent2) up)" 1648 1688)
  ("(distance(agent1 agent2) stable)" 1688 1689)
  ("(distance(agent1 agent2) down)" 1689 1728)
  ("(distance(agent1 agent2) stable)" 1728 1729)
  ("(distance(agent1 agent2) up)" 1729 1772)
  ("(distance(agent1 agent2) stable)" 1772 1773)
  ("(distance(agent1 agent2) down)" 1773 1814)
  ("(distance(agent1 agent2) stable)" 1814 1815)
  ("(distance(agent1 agent2) up)" 1815 1856)
  ("(distance(agent1 agent2) stable)" 1856 1857)
  ("(distance(agent1 agent2) down)" 1857 1896)
  ("(distance(agent1 agent2) stable)" 1896 1897)
  ("(distance(agent1 agent2) up)" 1897 1940)
  ("(relativeX(agent1 agent2) 1)" 328 393)
  ("(relativeX(agent1 agent2) 2)" 393 401)
  ("(relativeX(agent1 agent2) 3)" 401 410)
  ("(relativeX(agent1 agent2) 4)" 410 461)
  ("(relativeX(agent1 agent2) 3)" 461 475)
  ("(relativeX(agent1 agent2) 4)" 475 531)
  ("(relativeX(agent1 agent2) 3)" 531 580)
  ("(relativeX(agent1 agent2) 4)" 580 621)
  ("(relativeX(agent1 agent2) 3)" 621 675)
  ("(relativeX(agent1 agent2) 4)" 675 712)
  ("(relativeX(agent1 agent2) 3)" 712 732)
  ("(relativeX(agent1 agent2) 2)" 732 768)
  ("(relativeX(agent1 agent2) 3)" 768 788)
  ("(relativeX(agent1 agent2) 4)" 788 829)
  ("(relativeX(agent1 agent2) 3)" 829 860)
  ("(relativeX(agent1 agent2) 4)" 860 910)
  ("(relativeX(agent1 agent2) 3)" 910 944)
  ("(relativeX(agent1 agent2) 4)" 944 994)
  ("(relativeX(agent1 agent2) 3)" 994 1022)
  ("(relativeX(agent1 agent2) 4)" 1022 1067)
  ("(relativeX(agent1 agent2) 3)" 1067 1123)
  ("(relativeX(agent1 agent2) 4)" 1123 1165)
  ("(relativeX(agent1 agent2) 3)" 1165 1198)
  ("(relativeX(agent1 agent2) 4)" 1198 1240)
  ("(relativeX(agent1 agent2) 3)" 1240 1301)
  ("(relativeX(agent1 agent2) 4)" 1301 1327)
  ("(relativeX(agent1 agent2) 3)" 1327 1345)
  ("(relativeX(agent1 agent2) 2)" 1345 1389)
  ("(relativeX(agent1 agent2) 3)" 1389 1408)
  ("(relativeX(agent1 agent2) 4)" 1408 1438)
  ("(relativeX(agent1 agent2) 3)" 1438 1469)
  ("(relativeX(agent1 agent2) 4)" 1469 1510)
  ("(relativeX(agent1 agent2) 3)" 1510 1547)
  ("(relativeX(agent1 agent2) 4)" 1547 1586)
  ("(relativeX(agent1 agent2) 3)" 1586 1629)
  ("(relativeX(agent1 agent2) 4)" 1629 1666)
  ("(relativeX(agent1 agent2) 3)" 1666 1710)
  ("(relativeX(agent1 agent2) 4)" 1710 1746)
  ("(relativeX(agent1 agent2) 3)" 1746 1798)
  ("(relativeX(agent1 agent2) 4)" 1798 1830)
  ("(relativeX(agent1 agent2) 3)" 1830 1882)
  ("(relativeX(agent1 agent2) 4)" 1882 1909)
  ("(relativeX(agent1 agent2) 3)" 1909 1930)
  ("(relativeX(agent1 agent2) 2)" 1930 1940)
  ("(relativeX(agent1 agent2) down)" 329 428)
  ("(relativeX(agent1 agent2) up)" 428 467)
  ("(relativeX(agent1 agent2) stable)" 467 469)
  ("(relativeX(agent1 agent2) down)" 469 506)
  ("(relativeX(agent1 agent2) stable)" 506 508)
  ("(relativeX(agent1 agent2) up)" 508 556)
  ("(relativeX(agent1 agent2) stable)" 556 557)
  ("(relativeX(agent1 agent2) down)" 557 601)
  ("(relativeX(agent1 agent2) stable)" 601 602)
  ("(relativeX(agent1 agent2) up)" 602 648)
  ("(relativeX(agent1 agent2) stable)" 648 650)
  ("(relativeX(agent1 agent2) down)" 650 694)
  ("(relativeX(agent1 agent2) stable)" 694 696)
  ("(relativeX(agent1 agent2) up)" 696 750)
  ("(relativeX(agent1 agent2) stable)" 750 752)
  ("(relativeX(agent1 agent2) down)" 752 807)
  ("(relativeX(agent1 agent2) stable)" 807 809)
  ("(relativeX(agent1 agent2) up)" 809 844)
  ("(relativeX(agent1 agent2) stable)" 844 846)
  ("(relativeX(agent1 agent2) down)" 846 885)
  ("(relativeX(agent1 agent2) stable)" 885 887)
  ("(relativeX(agent1 agent2) up)" 887 927)
  ("(relativeX(agent1 agent2) stable)" 927 929)
  ("(relativeX(agent1 agent2) down)" 929 968)
  ("(relativeX(agent1 agent2) stable)" 968 970)
  ("(relativeX(agent1 agent2) up)" 970 1008)
  ("(relativeX(agent1 agent2) stable)" 1008 1010)
  ("(relativeX(agent1 agent2) down)" 1010 1046)
  ("(relativeX(agent1 agent2) stable)" 1046 1048)
  ("(relativeX(agent1 agent2) up)" 1048 1096)
  ("(relativeX(agent1 agent2) stable)" 1096 1097)
  ("(relativeX(agent1 agent2) down)" 1097 1143)
  ("(relativeX(agent1 agent2) stable)" 1143 1145)
  ("(relativeX(agent1 agent2) up)" 1145 1182)
  ("(relativeX(agent1 agent2) stable)" 1182 1183)
  ("(relativeX(agent1 agent2) down)" 1183 1220)
  ("(relativeX(agent1 agent2) stable)" 1220 1222)
  ("(relativeX(agent1 agent2) up)" 1222 1271)
  ("(relativeX(agent1 agent2) stable)" 1271 1272)
  ("(relativeX(agent1 agent2) down)" 1272 1314)
  ("(relativeX(agent1 agent2) stable)" 1314 1316)
  ("(relativeX(agent1 agent2) up)" 1316 1367)
  ("(relativeX(agent1 agent2) stable)" 1367 1369)
  ("(relativeX(agent1 agent2) down)" 1369 1422)
  ("(relativeX(agent1 agent2) stable)" 1422 1424)
  ("(relativeX(agent1 agent2) up)" 1424 1454)
  ("(relativeX(agent1 agent2) stable)" 1454 1455)
  ("(relativeX(agent1 agent2) down)" 1455 1489)
  ("(relativeX(agent1 agent2) stable)" 1489 1491)
  ("(relativeX(agent1 agent2) up)" 1491 1529)
  ("(relativeX(agent1 agent2) stable)" 1529 1531)
  ("(relativeX(agent1 agent2) down)" 1531 1566)
  ("(relativeX(agent1 agent2) stable)" 1566 1569)
  ("(relativeX(agent1 agent2) up)" 1569 1608)
  ("(relativeX(agent1 agent2) stable)" 1608 1609)
  ("(relativeX(agent1 agent2) down)" 1609 1646)
  ("(relativeX(agent1 agent2) stable)" 1646 1648)
  ("(relativeX(agent1 agent2) up)" 1648 1688)
  ("(relativeX(agent1 agent2) stable)" 1688 1690)
  ("(relativeX(agent1 agent2) down)" 1690 1728)
  ("(relativeX(agent1 agent2) stable)" 1728 1729)
  ("(relativeX(agent1 agent2) up)" 1729 1772)
  ("(relativeX(agent1 agent2) stable)" 1772 1773)
  ("(relativeX(agent1 agent2) down)" 1773 1813)
  ("(relativeX(agent1 agent2) stable)" 1813 1815)
  ("(relativeX(agent1 agent2) up)" 1815 1856)
  ("(relativeX(agent1 agent2) stable)" 1856 1857)
  ("(relativeX(agent1 agent2) down)" 1857 1896)
  ("(relativeX(agent1 agent2) stable)" 1896 1897)
  ("(relativeX(agent1 agent2) up)" 1897 1940)
  ("(relativeY(agent1 agent2) 5)" 328 385)
  ("(relativeY(agent1 agent2) 4)" 385 392)
  ("(relativeY(agent1 agent2) 3)" 392 402)
  ("(relativeY(agent1 agent2) 2)" 402 418)
  ("(relativeY(agent1 agent2) 3)" 418 428)
  ("(relativeY(agent1 agent2) 4)" 428 436)
  ("(relativeY(agent1 agent2) 5)" 436 485)
  ("(relativeY(agent1 agent2) 4)" 485 492)
  ("(relativeY(agent1 agent2) 3)" 492 500)
  ("(relativeY(agent1 agent2) 2)" 500 539)
  ("(relativeY(agent1 agent2) 3)" 539 574)
  ("(relativeY(agent1 agent2) 2)" 574 594)
  ("(relativeY(agent1 agent2) 1)" 594 604)
  ("(relativeY(agent1 agent2) 2)" 604 620)
  ("(relativeY(agent1 agent2) 3)" 620 630)
  ("(relativeY(agent1 agent2) 4)" 630 664)
  ("(relativeY(agent1 agent2) 3)" 664 674)
  ("(relativeY(agent1 agent2) 2)" 674 692)
  ("(relativeY(agent1 agent2) 1)" 692 699)
  ("(relativeY(agent1 agent2) 2)" 699 714)
  ("(relativeY(agent1 agent2) 3)" 714 722)
  ("(relativeY(agent1 agent2) 4)" 722 732)
  ("(relativeY(agent1 agent2) 5)" 732 769)
  ("(relativeY(agent1 agent2) 4)" 769 778)
  ("(relativeY(agent1 agent2) 3)" 778 786)
  ("(relativeY(agent1 agent2) 2)" 786 830)
  ("(relativeY(agent1 agent2) 3)" 830 857)
  ("(relativeY(agent1 agent2) 2)" 857 875)
  ("(relativeY(agent1 agent2) 1)" 875 897)
  ("(relativeY(agent1 agent2) 2)" 897 915)
  ("(relativeY(agent1 agent2) 3)" 915 940)
  ("(relativeY(agent1 agent2) 2)" 940 960)
  ("(relativeY(agent1 agent2) 1)" 960 978)
  ("(relativeY(agent1 agent2) 2)" 978 998)
  ("(relativeY(agent1 agent2) 3)" 998 1018)
  ("(relativeY(agent1 agent2) 2)" 1018 1038)
  ("(relativeY(agent1 agent2) 1)" 1038 1056)
  ("(relativeY(agent1 agent2) 2)" 1056 1070)
  ("(relativeY(agent1 agent2) 3)" 1070 1081)
  ("(relativeY(agent1 agent2) 4)" 1081 1110)
  ("(relativeY(agent1 agent2) 3)" 1110 1120)
  ("(relativeY(agent1 agent2) 2)" 1120 1138)
  ("(relativeY(agent1 agent2) 1)" 1138 1149)
  ("(relativeY(agent1 agent2) 2)" 1149 1169)
  ("(relativeY(agent1 agent2) 3)" 1169 1193)
  ("(relativeY(agent1 agent2) 2)" 1193 1213)
  ("(relativeY(agent1 agent2) 1)" 1213 1228)
  ("(relativeY(agent1 agent2) 2)" 1228 1243)
  ("(relativeY(agent1 agent2) 3)" 1243 1252)
  ("(relativeY(agent1 agent2) 4)" 1252 1288)
  ("(relativeY(agent1 agent2) 3)" 1288 1298)
  ("(relativeY(agent1 agent2) 2)" 1298 1330)
  ("(relativeY(agent1 agent2) 3)" 1330 1337)
  ("(relativeY(agent1 agent2) 4)" 1337 1345)
  ("(relativeY(agent1 agent2) 5)" 1345 1388)
  ("(relativeY(agent1 agent2) 4)" 1388 1396)
  ("(relativeY(agent1 agent2) 3)" 1396 1404)
  ("(relativeY(agent1 agent2) 2)" 1404 1443)
  ("(relativeY(agent1 agent2) 3)" 1443 1463)
  ("(relativeY(agent1 agent2) 2)" 1463 1515)
  ("(relativeY(agent1 agent2) 3)" 1515 1542)
  ("(relativeY(agent1 agent2) 2)" 1542 1591)
  ("(relativeY(agent1 agent2) 3)" 1591 1624)
  ("(relativeY(agent1 agent2) 2)" 1624 1670)
  ("(relativeY(agent1 agent2) 3)" 1670 1705)
  ("(relativeY(agent1 agent2) 2)" 1705 1750)
  ("(relativeY(agent1 agent2) 3)" 1750 1762)
  ("(relativeY(agent1 agent2) 4)" 1762 1782)
  ("(relativeY(agent1 agent2) 3)" 1782 1793)
  ("(relativeY(agent1 agent2) 2)" 1793 1834)
  ("(relativeY(agent1 agent2) 3)" 1834 1846)
  ("(relativeY(agent1 agent2) 4)" 1846 1866)
  ("(relativeY(agent1 agent2) 3)" 1866 1877)
  ("(relativeY(agent1 agent2) 2)" 1877 1913)
  ("(relativeY(agent1 agent2) 3)" 1913 1921)
  ("(relativeY(agent1 agent2) 4)" 1921 1931)
  ("(relativeY(agent1 agent2) 5)" 1931 1940)
  ("(relativeY(agent1 agent2) up)" 329 410)
  ("(relativeY(agent1 agent2) stable)" 410 411)
  ("(relativeY(agent1 agent2) down)" 411 461)
  ("(relativeY(agent1 agent2) stable)" 461 462)
  ("(relativeY(agent1 agent2) up)" 462 519)
  ("(relativeY(agent1 agent2) down)" 519 558)
  ("(relativeY(agent1 agent2) up)" 558 599)
  ("(relativeY(agent1 agent2) stable)" 599 600)
  ("(relativeY(agent1 agent2) down)" 600 648)
  ("(relativeY(agent1 agent2) stable)" 648 649)
  ("(relativeY(agent1 agent2) up)" 649 696)
  ("(relativeY(agent1 agent2) down)" 696 751)
  ("(relativeY(agent1 agent2) up)" 751 807)
  ("(relativeY(agent1 agent2) down)" 807 845)
  ("(relativeY(agent1 agent2) up)" 845 886)
  ("(relativeY(agent1 agent2) stable)" 886 887)
  ("(relativeY(agent1 agent2) down)" 887 928)
  ("(relativeY(agent1 agent2) stable)" 928 929)
  ("(relativeY(agent1 agent2) up)" 929 968)
  ("(relativeY(agent1 agent2) stable)" 968 969)
  ("(relativeY(agent1 agent2) down)" 969 1009)
  ("(relativeY(agent1 agent2) up)" 1009 1047)
  ("(relativeY(agent1 agent2) stable)" 1047 1048)
  ("(relativeY(agent1 agent2) down)" 1048 1096)
  ("(relativeY(agent1 agent2) stable)" 1096 1097)
  ("(relativeY(agent1 agent2) up)" 1097 1143)
  ("(relativeY(agent1 agent2) stable)" 1143 1144)
  ("(relativeY(agent1 agent2) down)" 1144 1182)
  ("(relativeY(agent1 agent2) stable)" 1182 1183)
  ("(relativeY(agent1 agent2) up)" 1183 1221)
  ("(relativeY(agent1 agent2) stable)" 1221 1222)
  ("(relativeY(agent1 agent2) down)" 1222 1271)
  ("(relativeY(agent1 agent2) stable)" 1271 1272)
  ("(relativeY(agent1 agent2) up)" 1272 1315)
  ("(relativeY(agent1 agent2) down)" 1315 1368)
  ("(relativeY(agent1 agent2) up)" 1368 1422)
  ("(relativeY(agent1 agent2) stable)" 1422 1423)
  ("(relativeY(agent1 agent2) down)" 1423 1454)
  ("(relativeY(agent1 agent2) stable)" 1454 1455)
  ("(relativeY(agent1 agent2) up)" 1455 1490)
  ("(relativeY(agent1 agent2) stable)" 1490 1491)
  ("(relativeY(agent1 agent2) down)" 1491 1529)
  ("(relativeY(agent1 agent2) stable)" 1529 1530)
  ("(relativeY(agent1 agent2) up)" 1530 1567)
  ("(relativeY(agent1 agent2) stable)" 1567 1568)
  ("(relativeY(agent1 agent2) down)" 1568 1608)
  ("(relativeY(agent1 agent2) stable)" 1608 1609)
  ("(relativeY(agent1 agent2) up)" 1609 1647)
  ("(relativeY(agent1 agent2) stable)" 1647 1648)
  ("(relativeY(agent1 agent2) down)" 1648 1689)
  ("(relativeY(agent1 agent2) up)" 1689 1728)
  ("(relativeY(agent1 agent2) stable)" 1728 1729)
  ("(relativeY(agent1 agent2) down)" 1729 1772)
  ("(relativeY(agent1 agent2) stable)" 1772 1773)
  ("(relativeY(agent1 agent2) up)" 1773 1814)
  ("(relativeY(agent1 agent2) down)" 1814 1856)
  ("(relativeY(agent1 agent2) stable)" 1856 1857)
  ("(relativeY(agent1 agent2) up)" 1857 1896)
  ("(relativeY(agent1 agent2) stable)" 1896 1897)
  ("(relativeY(agent1 agent2) down)" 1897 1940)
 ))
(9
 (
  ("(x(agent1) 5)" 25 127)
  ("(x(agent1) 4)" 127 141)
  ("(x(agent1) 3)" 141 154)
  ("(x(agent1) 2)" 154 199)
  ("(x(agent1) 3)" 199 259)
  ("(x(agent1) 2)" 259 301)
  ("(x(agent1) 3)" 301 344)
  ("(x(agent1) 2)" 344 416)
  ("(x(agent1) 3)" 416 440)
  ("(x(agent1) 2)" 440 468)
  ("(x(agent1) 1)" 468 498)
  ("(x(agent1) 2)" 498 578)
  ("(x(agent1) 1)" 578 595)
  ("(x(agent1) 2)" 595 670)
  ("(x(agent1) 1)" 670 703)
  ("(x(agent1) 2)" 703 776)
  ("(x(agent1) 1)" 776 799)
  ("(x(agent1) 2)" 799 831)
  ("(x(agent1) 3)" 831 851)
  ("(x(agent1) 2)" 851 881)
  ("(x(agent1) 1)" 881 908)
  ("(x(agent1) 2)" 908 937)
  ("(x(agent1) 3)" 937 958)
  ("(x(agent1) 2)" 958 988)
  ("(x(agent1) 1)" 988 1008)
  ("(x(agent1) 2)" 1008 1077)
  ("(x(agent1) 1)" 1077 1111)
  ("(x(agent1) 2)" 1111 1171)
  ("(x(agent1) 1)" 1171 1223)
  ("(x(agent1) 2)" 1223 1248)
  ("(x(agent1) 3)" 1248 1259)
  ("(x(agent1) 2)" 1259 1286)
  ("(x(agent1) 1)" 1286 1320)
  ("(x(agent1) 2)" 1320 1341)
  ("(x(agent1) 3)" 1341 1374)
  ("(x(agent1) 2)" 1374 1435)
  ("(x(agent1) 3)" 1435 1480)
  ("(x(agent1) 2)" 1480 1539)
  ("(x(agent1) 3)" 1539 1559)
  ("(x(agent1) 4)" 1559 1578)
  ("(x(agent1) 3)" 1578 1599)
  ("(x(agent1) 2)" 1599 1635)
  ("(x(agent1) 3)" 1635 1652)
  ("(x(agent1) 4)" 1652 1690)
  ("(x(agent1) 3)" 1690 1716)
  ("(x(agent1) 2)" 1716 1724)
  ("(x(agent1) 3)" 1724 1747)
  ("(x(agent1) 4)" 1747 1797)
  ("(x(agent1) 3)" 1797 1842)
  ("(x(agent1) 4)" 1842 1867)
  ("(x(agent1) 5)" 1867 1881)
  ("(x(agent1) 4)" 1881 1907)
  ("(x(agent1) 3)" 1907 1940)
  ("(x(agent1) 4)" 1940 1961)
  ("(x(agent1) 5)" 1961 1987)
  ("(x(agent1) 4)" 1987 2010)
  ("(x(agent1) 3)" 2010 2035)
  ("(x(agent1) 4)" 2035 2055)
  ("(x(agent1) 5)" 2055 2240)
  ("(x(agent1) 4)" 2240 2271)
  ("(x(agent1) 3)" 2271 2309)
  ("(x(agent1) 2)" 2309 2319)
  ("(x(agent1) up)" 26 176)
  ("(x(agent1) stable)" 176 177)
  ("(x(agent1) down)" 177 228)
  ("(x(agent1) stable)" 228 230)
  ("(x(agent1) up)" 230 280)
  ("(x(agent1) stable)" 280 282)
  ("(x(agent1) down)" 282 324)
  ("(x(agent1) stable)" 324 326)
  ("(x(agent1) up)" 326 378)
  ("(x(agent1) stable)" 378 380)
  ("(x(agent1) down)" 380 428)
  ("(x(agent1) stable)" 428 430)
  ("(x(agent1) up)" 430 483)
  ("(x(agent1) stable)" 483 485)
  ("(x(agent1) down)" 485 536)
  ("(x(agent1) stable)" 536 538)
  ("(x(agent1) up)" 538 586)
  ("(x(agent1) stable)" 586 588)
  ("(x(agent1) down)" 588 634)
  ("(x(agent1) stable)" 634 636)
  ("(x(agent1) up)" 636 687)
  ("(x(agent1) stable)" 687 688)
  ("(x(agent1) down)" 688 738)
  ("(x(agent1) stable)" 738 740)
  ("(x(agent1) up)" 740 788)
  ("(x(agent1) stable)" 788 789)
  ("(x(agent1) down)" 789 841)
  ("(x(agent1) stable)" 841 843)
  ("(x(agent1) up)" 843 895)
  ("(x(agent1) stable)" 895 896)
  ("(x(agent1) down)" 896 948)
  ("(x(agent1) stable)" 948 949)
  ("(x(agent1) up)" 949 998)
  ("(x(agent1) stable)" 998 999)
  ("(x(agent1) down)" 999 1044)
  ("(x(agent1) stable)" 1044 1046)
  ("(x(agent1) up)" 1046 1095)
  ("(x(agent1) stable)" 1095 1096)
  ("(x(agent1) down)" 1096 1143)
  ("(x(agent1) stable)" 1143 1145)
  ("(x(agent1) up)" 1145 1198)
  ("(x(agent1) stable)" 1198 1199)
  ("(x(agent1) down)" 1199 1254)
  ("(x(agent1) stable)" 1254 1255)
  ("(x(agent1) up)" 1255 1303)
  ("(x(agent1) stable)" 1303 1304)
  ("(x(agent1) down)" 1304 1357)
  ("(x(agent1) stable)" 1357 1358)
  ("(x(agent1) up)" 1358 1405)
  ("(x(agent1) stable)" 1405 1407)
  ("(x(agent1) down)" 1407 1458)
  ("(x(agent1) stable)" 1458 1459)
  ("(x(agent1) up)" 1459 1510)
  ("(x(agent1) stable)" 1510 1512)
  ("(x(agent1) down)" 1512 1568)
  ("(x(agent1) stable)" 1568 1569)
  ("(x(agent1) up)" 1569 1617)
  ("(x(agent1) stable)" 1617 1619)
  ("(x(agent1) down)" 1619 1671)
  ("(x(agent1) stable)" 1671 1672)
  ("(x(agent1) up)" 1672 1720)
  ("(x(agent1) stable)" 1720 1721)
  ("(x(agent1) down)" 1721 1772)
  ("(x(agent1) stable)" 1772 1773)
  ("(x(agent1) up)" 1773 1820)
  ("(x(agent1) stable)" 1820 1822)
  ("(x(agent1) down)" 1822 1874)
  ("(x(agent1) stable)" 1874 1876)
  ("(x(agent1) up)" 1876 1924)
  ("(x(agent1) stable)" 1924 1925)
  ("(x(agent1) down)" 1925 1974)
  ("(x(agent1) stable)" 1974 1975)
  ("(x(agent1) up)" 1975 2023)
  ("(x(agent1) stable)" 2023 2024)
  ("(x(agent1) down)" 2024 2085)
  ("(x(agent1) stable)" 2085 2088)
  ("(x(agent1) up)" 2088 2096)
  ("(x(agent1) stable)" 2096 2098)
  ("(x(agent1) down)" 2098 2147)
  ("(x(agent1) stable)" 2147 2149)
  ("(x(agent1) up)" 2149 2154)
  ("(x(agent1) stable)" 2154 2167)
  ("(x(agent1) down)" 2167 2179)
  ("(x(agent1) stable)" 2179 2193)
  ("(x(agent1) up)" 2193 2319)
  ("(y(agent1) 4)" 25 42)
  ("(y(agent1) 3)" 42 59)
  ("(y(agent1) 2)" 59 85)
  ("(y(agent1) 3)" 85 95)
  ("(y(agent1) 4)" 95 109)
  ("(y(agent1) 5)" 109 130)
  ("(y(agent1) 4)" 130 142)
  ("(y(agent1) 3)" 142 150)
  ("(y(agent1) 2)" 150 162)
  ("(y(agent1) 1)" 162 183)
  ("(y(agent1) 2)" 183 194)
  ("(y(agent1) 3)" 194 202)
  ("(y(agent1) 4)" 202 212)
  ("(y(agent1) 5)" 212 242)
  ("(y(agent1) 4)" 242 252)
  ("(y(agent1) 3)" 252 261)
  ("(y(agent1) 2)" 261 292)
  ("(y(agent1) 3)" 292 301)
  ("(y(agent1) 4)" 301 311)
  ("(y(agent1) 5)" 311 343)
  ("(y(agent1) 4)" 343 353)
  ("(y(agent1) 3)" 353 362)
  ("(y(agent1) 2)" 362 393)
  ("(y(agent1) 3)" 393 401)
  ("(y(agent1) 4)" 401 411)
  ("(y(agent1) 5)" 411 444)
  ("(y(agent1) 4)" 444 453)
  ("(y(agent1) 3)" 453 460)
  ("(y(agent1) 2)" 460 472)
  ("(y(agent1) 1)" 472 493)
  ("(y(agent1) 2)" 493 504)
  ("(y(agent1) 3)" 504 511)
  ("(y(agent1) 4)" 511 520)
  ("(y(agent1) 5)" 520 555)
  ("(y(agent1) 4)" 555 565)
  ("(y(agent1) 3)" 565 576)
  ("(y(agent1) 2)" 576 595)
  ("(y(agent1) 3)" 595 605)
  ("(y(agent1) 4)" 605 616)
  ("(y(agent1) 5)" 616 653)
  ("(y(agent1) 4)" 653 662)
  ("(y(agent1) 3)" 662 671)
  ("(y(agent1) 2)" 671 702)
  ("(y(agent1) 3)" 702 710)
  ("(y(agent1) 4)" 710 720)
  ("(y(agent1) 5)" 720 756)
  ("(y(agent1) 4)" 756 765)
  ("(y(agent1) 3)" 765 774)
  ("(y(agent1) 2)" 774 803)
  ("(y(agent1) 3)" 803 811)
  ("(y(agent1) 4)" 811 821)
  ("(y(agent1) 5)" 821 859)
  ("(y(agent1) 4)" 859 867)
  ("(y(agent1) 3)" 867 875)
  ("(y(agent1) 2)" 875 890)
  ("(y(agent1) 1)" 890 901)
  ("(y(agent1) 2)" 901 915)
  ("(y(agent1) 3)" 915 922)
  ("(y(agent1) 4)" 922 931)
  ("(y(agent1) 5)" 931 963)
  ("(y(agent1) 4)" 963 972)
  ("(y(agent1) 3)" 972 979)
  ("(y(agent1) 2)" 979 993)
  ("(y(agent1) 1)" 993 1002)
  ("(y(agent1) 2)" 1002 1015)
  ("(y(agent1) 3)" 1015 1022)
  ("(y(agent1) 4)" 1022 1032)
  ("(y(agent1) 5)" 1032 1057)
  ("(y(agent1) 4)" 1057 1066)
  ("(y(agent1) 3)" 1066 1073)
  ("(y(agent1) 2)" 1073 1083)
  ("(y(agent1) 1)" 1083 1105)
  ("(y(agent1) 2)" 1105 1114)
  ("(y(agent1) 3)" 1114 1121)
  ("(y(agent1) 4)" 1121 1130)
  ("(y(agent1) 5)" 1130 1159)
  ("(y(agent1) 4)" 1159 1166)
  ("(y(agent1) 3)" 1166 1172)
  ("(y(agent1) 2)" 1172 1180)
  ("(y(agent1) 1)" 1180 1218)
  ("(y(agent1) 2)" 1218 1225)
  ("(y(agent1) 3)" 1225 1231)
  ("(y(agent1) 4)" 1231 1241)
  ("(y(agent1) 5)" 1241 1264)
  ("(y(agent1) 4)" 1264 1272)
  ("(y(agent1) 3)" 1272 1278)
  ("(y(agent1) 2)" 1278 1286)
  ("(y(agent1) 1)" 1286 1322)
  ("(y(agent1) 2)" 1322 1329)
  ("(y(agent1) 3)" 1329 1335)
  ("(y(agent1) 4)" 1335 1344)
  ("(y(agent1) 5)" 1344 1368)
  ("(y(agent1) 4)" 1368 1377)
  ("(y(agent1) 3)" 1377 1383)
  ("(y(agent1) 2)" 1383 1391)
  ("(y(agent1) 1)" 1391 1422)
  ("(y(agent1) 2)" 1422 1430)
  ("(y(agent1) 3)" 1430 1436)
  ("(y(agent1) 4)" 1436 1446)
  ("(y(agent1) 5)" 1446 1467)
  ("(y(agent1) 4)" 1467 1476)
  ("(y(agent1) 3)" 1476 1482)
  ("(y(agent1) 2)" 1482 1488)
  ("(y(agent1) 1)" 1488 1534)
  ("(y(agent1) 2)" 1534 1541)
  ("(y(agent1) 3)" 1541 1547)
  ("(y(agent1) 4)" 1547 1556)
  ("(y(agent1) 5)" 1556 1578)
  ("(y(agent1) 4)" 1578 1587)
  ("(y(agent1) 3)" 1587 1593)
  ("(y(agent1) 2)" 1593 1601)
  ("(y(agent1) 1)" 1601 1636)
  ("(y(agent1) 2)" 1636 1644)
  ("(y(agent1) 3)" 1644 1650)
  ("(y(agent1) 4)" 1650 1661)
  ("(y(agent1) 5)" 1661 1679)
  ("(y(agent1) 4)" 1679 1689)
  ("(y(agent1) 3)" 1689 1695)
  ("(y(agent1) 2)" 1695 1704)
  ("(y(agent1) 1)" 1704 1737)
  ("(y(agent1) 2)" 1737 1745)
  ("(y(agent1) 3)" 1745 1752)
  ("(y(agent1) 4)" 1752 1763)
  ("(y(agent1) 5)" 1763 1779)
  ("(y(agent1) 4)" 1779 1790)
  ("(y(agent1) 3)" 1790 1796)
  ("(y(agent1) 2)" 1796 1804)
  ("(y(agent1) 1)" 1804 1839)
  ("(y(agent1) 2)" 1839 1847)
  ("(y(agent1) 3)" 1847 1853)
  ("(y(agent1) 4)" 1853 1864)
  ("(y(agent1) 5)" 1864 1883)
  ("(y(agent1) 4)" 1883 1892)
  ("(y(agent1) 3)" 1892 1898)
  ("(y(agent1) 2)" 1898 1906)
  ("(y(agent1) 1)" 1906 1943)
  ("(y(agent1) 2)" 1943 1950)
  ("(y(agent1) 3)" 1950 1957)
  ("(y(agent1) 4)" 1957 1988)
  ("(y(agent1) 3)" 1988 1994)
  ("(y(agent1) 2)" 1994 2001)
  ("(y(agent1) 1)" 2001 2047)
  ("(y(agent1) 2)" 2047 2054)
  ("(y(agent1) 3)" 2054 2063)
  ("(y(agent1) 4)" 2063 2117)
  ("(y(agent1) 5)" 2117 2219)
  ("(y(agent1) 4)" 2219 2230)
  ("(y(agent1) 3)" 2230 2238)
  ("(y(agent1) 2)" 2238 2247)
  ("(y(agent1) 1)" 2247 2319)
  ("(y(agent1) down)" 26 27)
  ("(y(agent1) stable)" 27 29)
  ("(y(agent1) up)" 29 73)
  ("(y(agent1) stable)" 73 74)
  ("(y(agent1) down)" 74 120)
  ("(y(agent1) stable)" 120 121)
  ("(y(agent1) up)" 121 173)
  ("(y(agent1) stable)" 173 174)
  ("(y(agent1) down)" 174 227)
  ("(y(agent1) stable)" 227 228)
  ("(y(agent1) up)" 228 277)
  ("(y(agent1) stable)" 277 278)
  ("(y(agent1) down)" 278 328)
  ("(y(agent1) up)" 328 378)
  ("(y(agent1) down)" 378 428)
  ("(y(agent1) stable)" 428 429)
  ("(y(agent1) up)" 429 483)
  ("(y(agent1) down)" 483 538)
  ("(y(agent1) up)" 538 586)
  ("(y(agent1) stable)" 586 587)
  ("(y(agent1) down)" 587 635)
  ("(y(agent1) stable)" 635 636)
  ("(y(agent1) up)" 636 687)
  ("(y(agent1) stable)" 687 688)
  ("(y(agent1) down)" 688 739)
  ("(y(agent1) up)" 739 789)
  ("(y(agent1) stable)" 789 790)
  ("(y(agent1) down)" 790 841)
  ("(y(agent1) stable)" 841 842)
  ("(y(agent1) up)" 842 896)
  ("(y(agent1) down)" 896 948)
  ("(y(agent1) up)" 948 998)
  ("(y(agent1) down)" 998 1045)
  ("(y(agent1) up)" 1045 1095)
  ("(y(agent1) down)" 1095 1145)
  ("(y(agent1) stable)" 1145 1146)
  ("(y(agent1) up)" 1146 1200)
  ("(y(agent1) down)" 1200 1253)
  ("(y(agent1) up)" 1253 1305)
  ("(y(agent1) down)" 1305 1357)
  ("(y(agent1) up)" 1357 1407)
  ("(y(agent1) stable)" 1407 1408)
  ("(y(agent1) down)" 1408 1457)
  ("(y(agent1) stable)" 1457 1458)
  ("(y(agent1) up)" 1458 1512)
  ("(y(agent1) stable)" 1512 1513)
  ("(y(agent1) down)" 1513 1568)
  ("(y(agent1) up)" 1568 1619)
  ("(y(agent1) stable)" 1619 1620)
  ("(y(agent1) down)" 1620 1671)
  ("(y(agent1) up)" 1671 1721)
  ("(y(agent1) stable)" 1721 1722)
  ("(y(agent1) down)" 1722 1771)
  ("(y(agent1) stable)" 1771 1772)
  ("(y(agent1) up)" 1772 1822)
  ("(y(agent1) stable)" 1822 1823)
  ("(y(agent1) down)" 1823 1874)
  ("(y(agent1) up)" 1874 1926)
  ("(y(agent1) down)" 1926 1974)
  ("(y(agent1) up)" 1974 2025)
  ("(y(agent1) down)" 2025 2084)
  ("(y(agent1) stable)" 2084 2085)
  ("(y(agent1) up)" 2085 2098)
  ("(y(agent1) down)" 2098 2147)
  ("(y(agent1) stable)" 2147 2148)
  ("(y(agent1) up)" 2148 2157)
  ("(y(agent1) stable)" 2157 2160)
  ("(y(agent1) down)" 2160 2192)
  ("(y(agent1) stable)" 2192 2193)
  ("(y(agent1) up)" 2193 2319)
  ("(speed(agent1) 5)" 25 39)
  ("(speed(agent1) 4)" 39 64)
  ("(speed(agent1) 3)" 64 114)
  ("(speed(agent1) 2)" 114 137)
  ("(speed(agent1) 3)" 137 148)
  ("(speed(agent1) 4)" 148 164)
  ("(speed(agent1) 5)" 164 188)
  ("(speed(agent1) 4)" 188 195)
  ("(speed(agent1) 3)" 195 211)
  ("(speed(agent1) 2)" 211 239)
  ("(speed(agent1) 3)" 239 246)
  ("(speed(agent1) 4)" 246 264)
  ("(speed(agent1) 5)" 264 292)
  ("(speed(agent1) 4)" 292 302)
  ("(speed(agent1) 3)" 302 318)
  ("(speed(agent1) 2)" 318 341)
  ("(speed(agent1) 3)" 341 347)
  ("(speed(agent1) 4)" 347 365)
  ("(speed(agent1) 5)" 365 392)
  ("(speed(agent1) 4)" 392 401)
  ("(speed(agent1) 3)" 401 417)
  ("(speed(agent1) 2)" 417 446)
  ("(speed(agent1) 3)" 446 457)
  ("(speed(agent1) 4)" 457 473)
  ("(speed(agent1) 5)" 473 497)
  ("(speed(agent1) 4)" 497 504)
  ("(speed(agent1) 3)" 504 518)
  ("(speed(agent1) 2)" 518 548)
  ("(speed(agent1) 3)" 548 555)
  ("(speed(agent1) 4)" 555 570)
  ("(speed(agent1) 5)" 570 601)
  ("(speed(agent1) 4)" 601 612)
  ("(speed(agent1) 3)" 612 627)
  ("(speed(agent1) 2)" 627 650)
  ("(speed(agent1) 3)" 650 656)
  ("(speed(agent1) 4)" 656 676)
  ("(speed(agent1) 5)" 676 702)
  ("(speed(agent1) 4)" 702 708)
  ("(speed(agent1) 3)" 708 725)
  ("(speed(agent1) 2)" 725 753)
  ("(speed(agent1) 3)" 753 759)
  ("(speed(agent1) 4)" 759 777)
  ("(speed(agent1) 5)" 777 803)
  ("(speed(agent1) 4)" 803 810)
  ("(speed(agent1) 3)" 810 831)
  ("(speed(agent1) 2)" 831 856)
  ("(speed(agent1) 3)" 856 868)
  ("(speed(agent1) 4)" 868 885)
  ("(speed(agent1) 5)" 885 910)
  ("(speed(agent1) 4)" 910 917)
  ("(speed(agent1) 3)" 917 929)
  ("(speed(agent1) 2)" 929 948)
  ("(speed(agent1) 1)" 948 959)
  ("(speed(agent1) 2)" 959 967)
  ("(speed(agent1) 3)" 967 981)
  ("(speed(agent1) 4)" 981 1011)
  ("(speed(agent1) 3)" 1011 1021)
  ("(speed(agent1) 2)" 1021 1032)
  ("(speed(agent1) 1)" 1032 1061)
  ("(speed(agent1) 2)" 1061 1066)
  ("(speed(agent1) 3)" 1066 1082)
  ("(speed(agent1) 4)" 1082 1108)
  ("(speed(agent1) 3)" 1108 1113)
  ("(speed(agent1) 2)" 1113 1128)
  ("(speed(agent1) 1)" 1128 1164)
  ("(speed(agent1) 2)" 1164 1178)
  ("(speed(agent1) 3)" 1178 1191)
  ("(speed(agent1) 4)" 1191 1213)
  ("(speed(agent1) 3)" 1213 1218)
  ("(speed(agent1) 2)" 1218 1223)
  ("(speed(agent1) 1)" 1223 1272)
  ("(speed(agent1) 2)" 1272 1283)
  ("(speed(agent1) 3)" 1283 1296)
  ("(speed(agent1) 4)" 1296 1318)
  ("(speed(agent1) 3)" 1318 1323)
  ("(speed(agent1) 2)" 1323 1330)
  ("(speed(agent1) 1)" 1330 1374)
  ("(speed(agent1) 2)" 1374 1383)
  ("(speed(agent1) 3)" 1383 1397)
  ("(speed(agent1) 4)" 1397 1420)
  ("(speed(agent1) 3)" 1420 1426)
  ("(speed(agent1) 2)" 1426 1437)
  ("(speed(agent1) 1)" 1437 1480)
  ("(speed(agent1) 2)" 1480 1493)
  ("(speed(agent1) 3)" 1493 1504)
  ("(speed(agent1) 4)" 1504 1525)
  ("(speed(agent1) 3)" 1525 1531)
  ("(speed(agent1) 2)" 1531 1535)
  ("(speed(agent1) 1)" 1535 1585)
  ("(speed(agent1) 2)" 1585 1595)
  ("(speed(agent1) 3)" 1595 1609)
  ("(speed(agent1) 4)" 1609 1633)
  ("(speed(agent1) 3)" 1633 1638)
  ("(speed(agent1) 2)" 1638 1647)
  ("(speed(agent1) 1)" 1647 1688)
  ("(speed(agent1) 2)" 1688 1697)
  ("(speed(agent1) 3)" 1697 1711)
  ("(speed(agent1) 4)" 1711 1734)
  ("(speed(agent1) 3)" 1734 1740)
  ("(speed(agent1) 2)" 1740 1751)
  ("(speed(agent1) 1)" 1751 1789)
  ("(speed(agent1) 2)" 1789 1798)
  ("(speed(agent1) 3)" 1798 1812)
  ("(speed(agent1) 4)" 1812 1835)
  ("(speed(agent1) 3)" 1835 1841)
  ("(speed(agent1) 2)" 1841 1851)
  ("(speed(agent1) 1)" 1851 1893)
  ("(speed(agent1) 2)" 1893 1907)
  ("(speed(agent1) 3)" 1907 1937)
  ("(speed(agent1) 2)" 1937 1943)
  ("(speed(agent1) 1)" 1943 1999)
  ("(speed(agent1) 2)" 1999 2017)
  ("(speed(agent1) 3)" 2017 2036)
  ("(speed(agent1) 2)" 2036 2042)
  ("(speed(agent1) 1)" 2042 2076)
  ("(speed(agent1) 2)" 2076 2082)
  ("(speed(agent1) 3)" 2082 2088)
  ("(speed(agent1) 4)" 2088 2109)
  ("(speed(agent1) 5)" 2109 2228)
  ("(speed(agent1) 4)" 2228 2242)
  ("(speed(agent1) 3)" 2242 2243)
  ("(speed(agent1) 4)" 2243 2253)
  ("(speed(agent1) 5)" 2253 2311)
  ("(speed(agent1) 4)" 2311 2319)
  ("(speed(agent1) up)" 26 48)
  ("(speed(agent1) down)" 48 52)
  ("(speed(agent1) up)" 52 90)
  ("(speed(agent1) down)" 90 99)
  ("(speed(agent1) stable)" 99 100)
  ("(speed(agent1) up)" 100 128)
  ("(speed(agent1) down)" 128 178)
  ("(speed(agent1) stable)" 178 179)
  ("(speed(agent1) up)" 179 231)
  ("(speed(agent1) down)" 231 282)
  ("(speed(agent1) stable)" 282 283)
  ("(speed(agent1) up)" 283 332)
  ("(speed(agent1) stable)" 332 333)
  ("(speed(agent1) down)" 333 383)
  ("(speed(agent1) up)" 383 436)
  ("(speed(agent1) down)" 436 488)
  ("(speed(agent1) up)" 488 540)
  ("(speed(agent1) down)" 540 591)
  ("(speed(agent1) up)" 591 641)
  ("(speed(agent1) stable)" 641 642)
  ("(speed(agent1) down)" 642 692)
  ("(speed(agent1) up)" 692 743)
  ("(speed(agent1) down)" 743 794)
  ("(speed(agent1) up)" 794 848)
  ("(speed(agent1) down)" 848 900)
  ("(speed(agent1) stable)" 900 901)
  ("(speed(agent1) up)" 901 954)
  ("(speed(agent1) down)" 954 1003)
  ("(speed(agent1) up)" 1003 1050)
  ("(speed(agent1) down)" 1050 1099)
  ("(speed(agent1) stable)" 1099 1100)
  ("(speed(agent1) up)" 1100 1153)
  ("(speed(agent1) down)" 1153 1204)
  ("(speed(agent1) stable)" 1204 1205)
  ("(speed(agent1) up)" 1205 1257)
  ("(speed(agent1) stable)" 1257 1258)
  ("(speed(agent1) down)" 1258 1309)
  ("(speed(agent1) up)" 1309 1361)
  ("(speed(agent1) down)" 1361 1412)
  ("(speed(agent1) up)" 1412 1465)
  ("(speed(agent1) down)" 1465 1517)
  ("(speed(agent1) up)" 1517 1572)
  ("(speed(agent1) down)" 1572 1624)
  ("(speed(agent1) up)" 1624 1675)
  ("(speed(agent1) down)" 1675 1726)
  ("(speed(agent1) up)" 1726 1776)
  ("(speed(agent1) down)" 1776 1827)
  ("(speed(agent1) up)" 1827 1881)
  ("(speed(agent1) down)" 1881 1931)
  ("(speed(agent1) up)" 1931 1979)
  ("(speed(agent1) down)" 1979 2029)
  ("(speed(agent1) stable)" 2029 2030)
  ("(speed(agent1) up)" 2030 2062)
  ("(speed(agent1) down)" 2062 2094)
  ("(speed(agent1) up)" 2094 2100)
  ("(speed(agent1) down)" 2100 2123)
  ("(speed(agent1) up)" 2123 2125)
  ("(speed(agent1) down)" 2125 2170)
  ("(speed(agent1) stable)" 2170 2171)
  ("(speed(agent1) up)" 2171 2172)
  ("(speed(agent1) stable)" 2172 2173)
  ("(speed(agent1) down)" 2173 2192)
  ("(speed(agent1) up)" 2192 2243)
  ("(speed(agent1) down)" 2243 2290)
  ("(speed(agent1) up)" 2290 2319)
  ("(heading(agent1) 5)" 50 117)
  ("(heading(agent1) 4)" 117 264)
  ("(heading(agent1) 3)" 264 2136)
  ("(heading(agent1) 2)" 2136 2162)
  ("(heading(agent1) 1)" 2162 2294)
  ("(heading(agent1) up)" 51 149)
  ("(heading(agent1) stable)" 149 2107)
  ("(heading(agent1) up)" 2107 2294)
  ("(energy(agent1) 1)" 25 635)
  ("(energy(agent1) 2)" 635 1118)
  ("(energy(agent1) 3)" 1118 1375)
  ("(energy(agent1) 4)" 1375 1748)
  ("(energy(agent1) 5)" 1748 2319)
  ("(energy(agent1) down)" 26 53)
  ("(energy(agent1) stable)" 53 91)
  ("(energy(agent1) down)" 91 142)
  ("(energy(agent1) stable)" 142 198)
  ("(energy(agent1) down)" 198 249)
  ("(energy(agent1) stable)" 249 299)
  ("(energy(agent1) down)" 299 350)
  ("(energy(agent1) stable)" 350 400)
  ("(energy(agent1) down)" 400 451)
  ("(energy(agent1) stable)" 451 508)
  ("(energy(agent1) down)" 508 559)
  ("(energy(agent1) stable)" 559 607)
  ("(energy(agent1) down)" 607 658)
  ("(energy(agent1) stable)" 658 710)
  ("(energy(agent1) down)" 710 761)
  ("(energy(agent1) stable)" 761 812)
  ("(energy(agent1) down)" 812 863)
  ("(energy(agent1) stable)" 863 920)
  ("(energy(agent1) down)" 920 971)
  ("(energy(agent1) stable)" 971 1017)
  ("(energy(agent1) down)" 1017 1068)
  ("(energy(agent1) stable)" 1068 1116)
  ("(energy(agent1) down)" 1116 1167)
  ("(energy(agent1) stable)" 1167 1224)
  ("(energy(agent1) down)" 1224 1275)
  ("(energy(agent1) stable)" 1275 1328)
  ("(energy(agent1) down)" 1328 1379)
  ("(energy(agent1) stable)" 1379 1429)
  ("(energy(agent1) down)" 1429 1480)
  ("(energy(agent1) stable)" 1480 1538)
  ("(energy(agent1) down)" 1538 1589)
  ("(energy(agent1) stable)" 1589 1642)
  ("(energy(agent1) down)" 1642 1693)
  ("(energy(agent1) stable)" 1693 1743)
  ("(energy(agent1) down)" 1743 1794)
  ("(energy(agent1) stable)" 1794 1845)
  ("(energy(agent1) down)" 1845 1896)
  ("(energy(agent1) stable)" 1896 1945)
  ("(energy(agent1) down)" 1945 1996)
  ("(energy(agent1) stable)" 1996 2044)
  ("(energy(agent1) down)" 2044 2095)
  ("(energy(agent1) stable)" 2095 2101)
  ("(energy(agent1) down)" 2101 2152)
  ("(energy(agent1) stable)" 2152 2319)
  ("(arousal(agent1) 5)" 25 236)
  ("(arousal(agent1) 4)" 236 322)
  ("(arousal(agent1) 3)" 322 346)
  ("(arousal(agent1) 2)" 346 359)
  ("(arousal(agent1) 3)" 359 439)
  ("(arousal(agent1) 2)" 439 460)
  ("(arousal(agent1) 3)" 460 493)
  ("(arousal(agent1) 2)" 493 597)
  ("(arousal(agent1) 3)" 597 629)
  ("(arousal(agent1) 2)" 629 667)
  ("(arousal(agent1) 3)" 667 749)
  ("(arousal(agent1) 2)" 749 770)
  ("(arousal(agent1) 3)" 770 851)
  ("(arousal(agent1) 2)" 851 872)
  ("(arousal(agent1) 3)" 872 960)
  ("(arousal(agent1) 2)" 960 980)
  ("(arousal(agent1) 3)" 980 1055)
  ("(arousal(agent1) 2)" 1055 1077)
  ("(arousal(agent1) 3)" 1077 1113)
  ("(arousal(agent1) 2)" 1113 2261)
  ("(arousal(agent1) 3)" 2261 2318)
  ("(arousal(agent1) 2)" 2318 2319)
  ("(arousal(agent1) up)" 26 52)
  ("(arousal(agent1) down)" 52 58)
  ("(arousal(agent1) stable)" 58 64)
  ("(arousal(agent1) up)" 64 155)
  ("(arousal(agent1) stable)" 155 161)
  ("(arousal(agent1) down)" 161 197)
  ("(arousal(agent1) up)" 197 248)
  ("(arousal(agent1) down)" 248 298)
  ("(arousal(agent1) up)" 298 349)
  ("(arousal(agent1) down)" 349 399)
  ("(arousal(agent1) up)" 399 450)
  ("(arousal(agent1) down)" 450 474)
  ("(arousal(agent1) stable)" 474 480)
  ("(arousal(agent1) up)" 480 536)
  ("(arousal(agent1) stable)" 536 545)
  ("(arousal(agent1) down)" 545 606)
  ("(arousal(agent1) up)" 606 657)
  ("(arousal(agent1) down)" 657 709)
  ("(arousal(agent1) up)" 709 760)
  ("(arousal(agent1) down)" 760 811)
  ("(arousal(agent1) up)" 811 862)
  ("(arousal(agent1) down)" 862 919)
  ("(arousal(agent1) up)" 919 970)
  ("(arousal(agent1) down)" 970 1016)
  ("(arousal(agent1) up)" 1016 1067)
  ("(arousal(agent1) down)" 1067 1093)
  ("(arousal(agent1) stable)" 1093 1097)
  ("(arousal(agent1) up)" 1097 1154)
  ("(arousal(agent1) stable)" 1154 1171)
  ("(arousal(agent1) down)" 1171 1200)
  ("(arousal(agent1) stable)" 1200 1222)
  ("(arousal(agent1) up)" 1222 1251)
  ("(arousal(agent1) stable)" 1251 1278)
  ("(arousal(agent1) down)" 1278 1304)
  ("(arousal(agent1) stable)" 1304 1329)
  ("(arousal(agent1) up)" 1329 1355)
  ("(arousal(agent1) stable)" 1355 1385)
  ("(arousal(agent1) down)" 1385 1399)
  ("(arousal(agent1) stable)" 1399 1436)
  ("(arousal(agent1) up)" 1436 1450)
  ("(arousal(agent1) stable)" 1450 1483)
  ("(arousal(agent1) down)" 1483 1520)
  ("(arousal(agent1) stable)" 1520 1534)
  ("(arousal(agent1) up)" 1534 1569)
  ("(arousal(agent1) stable)" 1569 1595)
  ("(arousal(agent1) down)" 1595 1612)
  ("(arousal(agent1) stable)" 1612 1646)
  ("(arousal(agent1) up)" 1646 1663)
  ("(arousal(agent1) stable)" 1663 1697)
  ("(arousal(agent1) down)" 1697 1713)
  ("(arousal(agent1) stable)" 1713 1748)
  ("(arousal(agent1) up)" 1748 1764)
  ("(arousal(agent1) stable)" 1764 1795)
  ("(arousal(agent1) down)" 1795 1816)
  ("(arousal(agent1) stable)" 1816 1846)
  ("(arousal(agent1) up)" 1846 1867)
  ("(arousal(agent1) stable)" 1867 1900)
  ("(arousal(agent1) down)" 1900 1922)
  ("(arousal(agent1) stable)" 1922 1951)
  ("(arousal(agent1) up)" 1951 1973)
  ("(arousal(agent1) stable)" 1973 2002)
  ("(arousal(agent1) down)" 2002 2023)
  ("(arousal(agent1) stable)" 2023 2053)
  ("(arousal(agent1) up)" 2053 2068)
  ("(arousal(agent1) stable)" 2068 2074)
  ("(arousal(agent1) down)" 2074 2100)
  ("(arousal(agent1) stable)" 2100 2138)
  ("(arousal(agent1) up)" 2138 2151)
  ("(arousal(agent1) stable)" 2151 2161)
  ("(arousal(agent1) up)" 2161 2195)
  ("(arousal(agent1) stable)" 2195 2209)
  ("(arousal(agent1) down)" 2209 2290)
  ("(arousal(agent1) up)" 2290 2319)
  ("(valence(agent1) 5)" 25 225)
  ("(valence(agent1) 4)" 225 238)
  ("(valence(agent1) 3)" 238 324)
  ("(valence(agent1) 2)" 324 501)
  ("(valence(agent1) 3)" 501 512)
  ("(valence(agent1) 2)" 512 708)
  ("(valence(agent1) 3)" 708 709)
  ("(valence(agent1) 2)" 709 913)
  ("(valence(agent1) 3)" 913 924)
  ("(valence(agent1) 2)" 924 1217)
  ("(valence(agent1) 3)" 1217 1228)
  ("(valence(agent1) 2)" 1228 1325)
  ("(valence(agent1) 3)" 1325 1328)
  ("(valence(agent1) 2)" 1328 1530)
  ("(valence(agent1) 3)" 1530 1543)
  ("(valence(agent1) 2)" 1543 1639)
  ("(valence(agent1) 3)" 1639 1642)
  ("(valence(agent1) 2)" 1642 2193)
  ("(valence(agent1) 3)" 2193 2205)
  ("(valence(agent1) 4)" 2205 2219)
  ("(valence(agent1) 5)" 2219 2319)
  ("(valence(agent1) up)" 26 52)
  ("(valence(agent1) down)" 52 90)
  ("(valence(agent1) up)" 90 141)
  ("(valence(agent1) down)" 141 197)
  ("(valence(agent1) up)" 197 248)
  ("(valence(agent1) down)" 248 298)
  ("(valence(agent1) up)" 298 349)
  ("(valence(agent1) down)" 349 399)
  ("(valence(agent1) up)" 399 450)
  ("(valence(agent1) down)" 450 507)
  ("(valence(agent1) up)" 507 558)
  ("(valence(agent1) down)" 558 606)
  ("(valence(agent1) up)" 606 657)
  ("(valence(agent1) down)" 657 709)
  ("(valence(agent1) up)" 709 760)
  ("(valence(agent1) down)" 760 811)
  ("(valence(agent1) up)" 811 862)
  ("(valence(agent1) down)" 862 919)
  ("(valence(agent1) up)" 919 970)
  ("(valence(agent1) down)" 970 1016)
  ("(valence(agent1) up)" 1016 1067)
  ("(valence(agent1) down)" 1067 1115)
  ("(valence(agent1) up)" 1115 1166)
  ("(valence(agent1) down)" 1166 1223)
  ("(valence(agent1) up)" 1223 1274)
  ("(valence(agent1) down)" 1274 1327)
  ("(valence(agent1) up)" 1327 1378)
  ("(valence(agent1) down)" 1378 1428)
  ("(valence(agent1) up)" 1428 1479)
  ("(valence(agent1) down)" 1479 1537)
  ("(valence(agent1) up)" 1537 1588)
  ("(valence(agent1) down)" 1588 1641)
  ("(valence(agent1) up)" 1641 1692)
  ("(valence(agent1) down)" 1692 1742)
  ("(valence(agent1) up)" 1742 1793)
  ("(valence(agent1) down)" 1793 1844)
  ("(valence(agent1) up)" 1844 1895)
  ("(valence(agent1) down)" 1895 1944)
  ("(valence(agent1) up)" 1944 1995)
  ("(valence(agent1) down)" 1995 2043)
  ("(valence(agent1) up)" 2043 2094)
  ("(valence(agent1) down)" 2094 2100)
  ("(valence(agent1) stable)" 2100 2151)
  ("(valence(agent1) down)" 2151 2319)
  ("(goal(agent1) WanderGoal)" 0 1)
  ("(goal(agent1) PursueGoal)" 1 2127)
  ("(goal(agent1) WanderGoal)" 2127 2344)
  ("(state(agent1) wander)" 0 1)
  ("(state(agent1) charge)" 1 26)
  ("(state(agent1) back-away)" 26 60)
  ("(state(agent1) charge)" 60 114)
  ("(state(agent1) back-away)" 114 148)
  ("(state(agent1) charge)" 148 222)
  ("(state(agent1) back-away)" 222 253)
  ("(state(agent1) charge)" 253 322)
  ("(state(agent1) back-away)" 322 353)
  ("(state(agent1) charge)" 353 423)
  ("(state(agent1) back-away)" 423 457)
  ("(state(agent1) charge)" 457 532)
  ("(state(agent1) back-away)" 532 562)
  ("(state(agent1) charge)" 562 630)
  ("(state(agent1) back-away)" 630 662)
  ("(state(agent1) charge)" 662 733)
  ("(state(agent1) back-away)" 733 764)
  ("(state(agent1) charge)" 764 836)
  ("(state(agent1) back-away)" 836 870)
  ("(state(agent1) charge)" 870 943)
  ("(state(agent1) back-away)" 943 974)
  ("(state(agent1) charge)" 974 1040)
  ("(state(agent1) back-away)" 1040 1070)
  ("(state(agent1) charge)" 1070 1140)
  ("(state(agent1) back-away)" 1140 1174)
  ("(state(agent1) charge)" 1174 1247)
  ("(state(agent1) back-away)" 1247 1279)
  ("(state(agent1) charge)" 1279 1351)
  ("(state(agent1) back-away)" 1351 1382)
  ("(state(agent1) charge)" 1382 1452)
  ("(state(agent1) back-away)" 1452 1486)
  ("(state(agent1) charge)" 1486 1562)
  ("(state(agent1) back-away)" 1562 1594)
  ("(state(agent1) charge)" 1594 1665)
  ("(state(agent1) back-away)" 1665 1696)
  ("(state(agent1) charge)" 1696 1766)
  ("(state(agent1) back-away)" 1766 1797)
  ("(state(agent1) charge)" 1797 1869)
  ("(state(agent1) back-away)" 1869 1903)
  ("(state(agent1) charge)" 1903 1969)
  ("(state(agent1) back-away)" 1969 2000)
  ("(state(agent1) charge)" 2000 2067)
  ("(state(agent1) back-away)" 2067 2081)
  ("(state(agent1) charge)" 2081 2124)
  ("(state(agent1) back-away)" 2124 2127)
  ("(state(agent1) wander)" 2127 2344)
  ("(x(agent2) 5)" 93 103)
  ("(x(agent2) 4)" 103 141)
  ("(x(agent2) 5)" 141 184)
  ("(x(agent2) 4)" 184 197)
  ("(x(agent2) 3)" 197 208)
  ("(x(agent2) 2)" 208 228)
  ("(x(agent2) 1)" 228 239)
  ("(x(agent2) 2)" 239 270)
  ("(x(agent2) 3)" 270 281)
  ("(x(agent2) 2)" 281 306)
  ("(x(agent2) 1)" 306 346)
  ("(x(agent2) 2)" 346 402)
  ("(x(agent2) 1)" 402 456)
  ("(x(agent2) 2)" 456 507)
  ("(x(agent2) 1)" 507 570)
  ("(x(agent2) 2)" 570 600)
  ("(x(agent2) 1)" 600 666)
  ("(x(agent2) 2)" 666 707)
  ("(x(agent2) 1)" 707 767)
  ("(x(agent2) 2)" 767 812)
  ("(x(agent2) 1)" 812 865)
  ("(x(agent2) 2)" 865 885)
  ("(x(agent2) 3)" 885 906)
  ("(x(agent2) 2)" 906 925)
  ("(x(agent2) 1)" 925 970)
  ("(x(agent2) 2)" 970 1020)
  ("(x(agent2) 1)" 1020 1068)
  ("(x(agent2) 2)" 1068 1092)
  ("(x(agent2) 3)" 1092 1097)
  ("(x(agent2) 2)" 1097 1119)
  ("(x(agent2) 1)" 1119 1163)
  ("(x(agent2) 2)" 1163 1175)
  ("(x(agent2) 3)" 1175 1189)
  ("(x(agent2) 4)" 1189 1211)
  ("(x(agent2) 3)" 1211 1224)
  ("(x(agent2) 2)" 1224 1239)
  ("(x(agent2) 1)" 1239 1265)
  ("(x(agent2) 2)" 1265 1279)
  ("(x(agent2) 3)" 1279 1292)
  ("(x(agent2) 4)" 1292 1318)
  ("(x(agent2) 3)" 1318 1331)
  ("(x(agent2) 2)" 1331 1352)
  ("(x(agent2) 1)" 1352 1359)
  ("(x(agent2) 2)" 1359 1378)
  ("(x(agent2) 3)" 1378 1390)
  ("(x(agent2) 4)" 1390 1426)
  ("(x(agent2) 3)" 1426 1439)
  ("(x(agent2) 2)" 1439 1472)
  ("(x(agent2) 3)" 1472 1482)
  ("(x(agent2) 4)" 1482 1496)
  ("(x(agent2) 5)" 1496 1529)
  ("(x(agent2) 4)" 1529 1543)
  ("(x(agent2) 3)" 1543 1557)
  ("(x(agent2) 2)" 1557 1575)
  ("(x(agent2) 3)" 1575 1589)
  ("(x(agent2) 4)" 1589 1602)
  ("(x(agent2) 5)" 1602 1638)
  ("(x(agent2) 4)" 1638 1654)
  ("(x(agent2) 3)" 1654 1683)
  ("(x(agent2) 4)" 1683 1697)
  ("(x(agent2) 5)" 1697 1745)
  ("(x(agent2) 4)" 1745 1766)
  ("(x(agent2) 3)" 1766 1775)
  ("(x(agent2) 4)" 1775 1794)
  ("(x(agent2) 5)" 1794 1854)
  ("(x(agent2) 4)" 1854 1890)
  ("(x(agent2) 5)" 1890 1964)
  ("(x(agent2) 4)" 1964 1981)
  ("(x(agent2) 5)" 1981 2215)
  ("(x(agent2) 4)" 2215 2234)
  ("(x(agent2) up)" 94 121)
  ("(x(agent2) stable)" 121 122)
  ("(x(agent2) down)" 122 165)
  ("(x(agent2) stable)" 165 166)
  ("(x(agent2) up)" 166 233)
  ("(x(agent2) stable)" 233 234)
  ("(x(agent2) down)" 234 276)
  ("(x(agent2) stable)" 276 277)
  ("(x(agent2) up)" 277 327)
  ("(x(agent2) stable)" 327 328)
  ("(x(agent2) down)" 328 375)
  ("(x(agent2) stable)" 375 377)
  ("(x(agent2) up)" 377 430)
  ("(x(agent2) stable)" 430 431)
  ("(x(agent2) down)" 431 482)
  ("(x(agent2) stable)" 482 483)
  ("(x(agent2) up)" 483 537)
  ("(x(agent2) stable)" 537 538)
  ("(x(agent2) down)" 538 585)
  ("(x(agent2) stable)" 585 587)
  ("(x(agent2) up)" 587 635)
  ("(x(agent2) stable)" 635 636)
  ("(x(agent2) down)" 636 687)
  ("(x(agent2) stable)" 687 688)
  ("(x(agent2) up)" 688 738)
  ("(x(agent2) stable)" 738 739)
  ("(x(agent2) down)" 739 790)
  ("(x(agent2) stable)" 790 791)
  ("(x(agent2) up)" 791 840)
  ("(x(agent2) stable)" 840 841)
  ("(x(agent2) down)" 841 896)
  ("(x(agent2) stable)" 896 897)
  ("(x(agent2) up)" 897 948)
  ("(x(agent2) stable)" 948 949)
  ("(x(agent2) down)" 949 997)
  ("(x(agent2) stable)" 997 998)
  ("(x(agent2) up)" 998 1045)
  ("(x(agent2) stable)" 1045 1046)
  ("(x(agent2) down)" 1046 1095)
  ("(x(agent2) up)" 1095 1143)
  ("(x(agent2) stable)" 1143 1144)
  ("(x(agent2) down)" 1144 1200)
  ("(x(agent2) stable)" 1200 1201)
  ("(x(agent2) up)" 1201 1252)
  ("(x(agent2) stable)" 1252 1253)
  ("(x(agent2) down)" 1253 1305)
  ("(x(agent2) stable)" 1305 1306)
  ("(x(agent2) up)" 1306 1355)
  ("(x(agent2) stable)" 1355 1356)
  ("(x(agent2) down)" 1356 1408)
  ("(x(agent2) stable)" 1408 1409)
  ("(x(agent2) up)" 1409 1456)
  ("(x(agent2) stable)" 1456 1457)
  ("(x(agent2) down)" 1457 1513)
  ("(x(agent2) up)" 1513 1567)
  ("(x(agent2) down)" 1567 1620)
  ("(x(agent2) stable)" 1620 1621)
  ("(x(agent2) up)" 1621 1669)
  ("(x(agent2) stable)" 1669 1670)
  ("(x(agent2) down)" 1670 1722)
  ("(x(agent2) up)" 1722 1770)
  ("(x(agent2) stable)" 1770 1771)
  ("(x(agent2) down)" 1771 1823)
  ("(x(agent2) stable)" 1823 1824)
  ("(x(agent2) up)" 1824 1873)
  ("(x(agent2) stable)" 1873 1874)
  ("(x(agent2) down)" 1874 1926)
  ("(x(agent2) stable)" 1926 1927)
  ("(x(agent2) up)" 1927 1973)
  ("(x(agent2) down)" 1973 2025)
  ("(x(agent2) up)" 2025 2082)
  ("(x(agent2) stable)" 2082 2084)
  ("(x(agent2) down)" 2084 2098)
  ("(x(agent2) stable)" 2098 2099)
  ("(x(agent2) up)" 2099 2121)
  ("(x(agent2) stable)" 2121 2122)
  ("(x(agent2) down)" 2122 2175)
  ("(x(agent2) stable)" 2175 2176)
  ("(x(agent2) up)" 2176 2234)
  ("(y(agent2) 1)" 93 140)
  ("(y(agent2) 2)" 140 148)
  ("(y(agent2) 3)" 148 156)
  ("(y(agent2) 4)" 156 191)
  ("(y(agent2) 3)" 191 199)
  ("(y(agent2) 2)" 199 208)
  ("(y(agent2) 1)" 208 244)
  ("(y(agent2) 2)" 244 253)
  ("(y(agent2) 3)" 253 262)
  ("(y(agent2) 4)" 262 292)
  ("(y(agent2) 3)" 292 300)
  ("(y(agent2) 2)" 300 311)
  ("(y(agent2) 1)" 311 343)
  ("(y(agent2) 2)" 343 352)
  ("(y(agent2) 3)" 352 360)
  ("(y(agent2) 4)" 360 395)
  ("(y(agent2) 3)" 395 403)
  ("(y(agent2) 2)" 403 413)
  ("(y(agent2) 1)" 413 441)
  ("(y(agent2) 2)" 441 450)
  ("(y(agent2) 3)" 450 457)
  ("(y(agent2) 4)" 457 466)
  ("(y(agent2) 5)" 466 499)
  ("(y(agent2) 4)" 499 507)
  ("(y(agent2) 3)" 507 514)
  ("(y(agent2) 2)" 514 524)
  ("(y(agent2) 1)" 524 551)
  ("(y(agent2) 2)" 551 561)
  ("(y(agent2) 3)" 561 570)
  ("(y(agent2) 4)" 570 601)
  ("(y(agent2) 3)" 601 610)
  ("(y(agent2) 2)" 610 621)
  ("(y(agent2) 1)" 621 648)
  ("(y(agent2) 2)" 648 657)
  ("(y(agent2) 3)" 657 665)
  ("(y(agent2) 4)" 665 677)
  ("(y(agent2) 5)" 677 697)
  ("(y(agent2) 4)" 697 708)
  ("(y(agent2) 3)" 708 715)
  ("(y(agent2) 2)" 715 726)
  ("(y(agent2) 1)" 726 750)
  ("(y(agent2) 2)" 750 760)
  ("(y(agent2) 3)" 760 768)
  ("(y(agent2) 4)" 768 782)
  ("(y(agent2) 5)" 782 795)
  ("(y(agent2) 4)" 795 808)
  ("(y(agent2) 3)" 808 815)
  ("(y(agent2) 2)" 815 825)
  ("(y(agent2) 1)" 825 855)
  ("(y(agent2) 2)" 855 864)
  ("(y(agent2) 3)" 864 871)
  ("(y(agent2) 4)" 871 881)
  ("(y(agent2) 5)" 881 909)
  ("(y(agent2) 4)" 909 918)
  ("(y(agent2) 3)" 918 925)
  ("(y(agent2) 2)" 925 936)
  ("(y(agent2) 1)" 936 958)
  ("(y(agent2) 2)" 958 968)
  ("(y(agent2) 3)" 968 975)
  ("(y(agent2) 4)" 975 984)
  ("(y(agent2) 5)" 984 1011)
  ("(y(agent2) 4)" 1011 1019)
  ("(y(agent2) 3)" 1019 1026)
  ("(y(agent2) 2)" 1026 1040)
  ("(y(agent2) 1)" 1040 1049)
  ("(y(agent2) 2)" 1049 1062)
  ("(y(agent2) 3)" 1062 1068)
  ("(y(agent2) 4)" 1068 1076)
  ("(y(agent2) 5)" 1076 1111)
  ("(y(agent2) 4)" 1111 1119)
  ("(y(agent2) 3)" 1119 1125)
  ("(y(agent2) 2)" 1125 1136)
  ("(y(agent2) 1)" 1136 1153)
  ("(y(agent2) 2)" 1153 1163)
  ("(y(agent2) 3)" 1163 1168)
  ("(y(agent2) 4)" 1168 1175)
  ("(y(agent2) 5)" 1175 1222)
  ("(y(agent2) 4)" 1222 1229)
  ("(y(agent2) 3)" 1229 1235)
  ("(y(agent2) 2)" 1235 1248)
  ("(y(agent2) 1)" 1248 1257)
  ("(y(agent2) 2)" 1257 1269)
  ("(y(agent2) 3)" 1269 1275)
  ("(y(agent2) 4)" 1275 1282)
  ("(y(agent2) 5)" 1282 1325)
  ("(y(agent2) 4)" 1325 1332)
  ("(y(agent2) 3)" 1332 1339)
  ("(y(agent2) 2)" 1339 1351)
  ("(y(agent2) 1)" 1351 1361)
  ("(y(agent2) 2)" 1361 1373)
  ("(y(agent2) 3)" 1373 1379)
  ("(y(agent2) 4)" 1379 1387)
  ("(y(agent2) 5)" 1387 1425)
  ("(y(agent2) 4)" 1425 1433)
  ("(y(agent2) 3)" 1433 1439)
  ("(y(agent2) 2)" 1439 1451)
  ("(y(agent2) 1)" 1451 1463)
  ("(y(agent2) 2)" 1463 1474)
  ("(y(agent2) 3)" 1474 1480)
  ("(y(agent2) 4)" 1480 1486)
  ("(y(agent2) 5)" 1486 1536)
  ("(y(agent2) 4)" 1536 1542)
  ("(y(agent2) 3)" 1542 1548)
  ("(y(agent2) 2)" 1548 1558)
  ("(y(agent2) 1)" 1558 1577)
  ("(y(agent2) 2)" 1577 1586)
  ("(y(agent2) 3)" 1586 1592)
  ("(y(agent2) 4)" 1592 1600)
  ("(y(agent2) 5)" 1600 1637)
  ("(y(agent2) 4)" 1637 1644)
  ("(y(agent2) 3)" 1644 1650)
  ("(y(agent2) 2)" 1650 1660)
  ("(y(agent2) 1)" 1660 1680)
  ("(y(agent2) 2)" 1680 1689)
  ("(y(agent2) 3)" 1689 1695)
  ("(y(agent2) 4)" 1695 1703)
  ("(y(agent2) 5)" 1703 1738)
  ("(y(agent2) 4)" 1738 1745)
  ("(y(agent2) 3)" 1745 1751)
  ("(y(agent2) 2)" 1751 1762)
  ("(y(agent2) 1)" 1762 1781)
  ("(y(agent2) 2)" 1781 1790)
  ("(y(agent2) 3)" 1790 1796)
  ("(y(agent2) 4)" 1796 1804)
  ("(y(agent2) 5)" 1804 1838)
  ("(y(agent2) 4)" 1838 1845)
  ("(y(agent2) 3)" 1845 1851)
  ("(y(agent2) 2)" 1851 1860)
  ("(y(agent2) 1)" 1860 1887)
  ("(y(agent2) 2)" 1887 1894)
  ("(y(agent2) 3)" 1894 1900)
  ("(y(agent2) 4)" 1900 1907)
  ("(y(agent2) 5)" 1907 1941)
  ("(y(agent2) 4)" 1941 1948)
  ("(y(agent2) 3)" 1948 1954)
  ("(y(agent2) 2)" 1954 1963)
  ("(y(agent2) 1)" 1963 1983)
  ("(y(agent2) 2)" 1983 1992)
  ("(y(agent2) 3)" 1992 1997)
  ("(y(agent2) 4)" 1997 2004)
  ("(y(agent2) 5)" 2004 2040)
  ("(y(agent2) 4)" 2040 2046)
  ("(y(agent2) 3)" 2046 2051)
  ("(y(agent2) 2)" 2051 2060)
  ("(y(agent2) 1)" 2060 2146)
  ("(y(agent2) 2)" 2146 2153)
  ("(y(agent2) 3)" 2153 2161)
  ("(y(agent2) 4)" 2161 2187)
  ("(y(agent2) 3)" 2187 2194)
  ("(y(agent2) 2)" 2194 2200)
  ("(y(agent2) 1)" 2200 2234)
  ("(y(agent2) up)" 94 116)
  ("(y(agent2) stable)" 116 117)
  ("(y(agent2) down)" 117 174)
  ("(y(agent2) stable)" 174 175)
  ("(y(agent2) up)" 175 227)
  ("(y(agent2) down)" 227 278)
  ("(y(agent2) up)" 278 327)
  ("(y(agent2) stable)" 327 328)
  ("(y(agent2) down)" 328 378)
  ("(y(agent2) stable)" 378 379)
  ("(y(agent2) up)" 379 428)
  ("(y(agent2) stable)" 428 429)
  ("(y(agent2) down)" 429 483)
  ("(y(agent2) up)" 483 538)
  ("(y(agent2) down)" 538 586)
  ("(y(agent2) stable)" 586 587)
  ("(y(agent2) up)" 587 635)
  ("(y(agent2) stable)" 635 636)
  ("(y(agent2) down)" 636 687)
  ("(y(agent2) stable)" 687 688)
  ("(y(agent2) up)" 688 739)
  ("(y(agent2) down)" 739 789)
  ("(y(agent2) up)" 789 841)
  ("(y(agent2) stable)" 841 842)
  ("(y(agent2) down)" 842 896)
  ("(y(agent2) up)" 896 948)
  ("(y(agent2) down)" 948 998)
  ("(y(agent2) up)" 998 1045)
  ("(y(agent2) down)" 1045 1095)
  ("(y(agent2) up)" 1095 1145)
  ("(y(agent2) stable)" 1145 1146)
  ("(y(agent2) down)" 1146 1199)
  ("(y(agent2) stable)" 1199 1200)
  ("(y(agent2) up)" 1200 1253)
  ("(y(agent2) down)" 1253 1304)
  ("(y(agent2) stable)" 1304 1305)
  ("(y(agent2) up)" 1305 1357)
  ("(y(agent2) down)" 1357 1407)
  ("(y(agent2) up)" 1407 1458)
  ("(y(agent2) down)" 1458 1512)
  ("(y(agent2) up)" 1512 1568)
  ("(y(agent2) down)" 1568 1619)
  ("(y(agent2) up)" 1619 1670)
  ("(y(agent2) stable)" 1670 1671)
  ("(y(agent2) down)" 1671 1721)
  ("(y(agent2) up)" 1721 1772)
  ("(y(agent2) down)" 1772 1822)
  ("(y(agent2) up)" 1822 1874)
  ("(y(agent2) stable)" 1874 1875)
  ("(y(agent2) down)" 1875 1925)
  ("(y(agent2) stable)" 1925 1926)
  ("(y(agent2) up)" 1926 1974)
  ("(y(agent2) down)" 1974 2023)
  ("(y(agent2) up)" 2023 2085)
  ("(y(agent2) stable)" 2085 2086)
  ("(y(agent2) down)" 2086 2097)
  ("(y(agent2) stable)" 2097 2098)
  ("(y(agent2) up)" 2098 2122)
  ("(y(agent2) stable)" 2122 2123)
  ("(y(agent2) down)" 2123 2175)
  ("(y(agent2) up)" 2175 2234)
  ("(speed(agent2) 5)" 93 112)
  ("(speed(agent2) 4)" 112 122)
  ("(speed(agent2) 3)" 122 138)
  ("(speed(agent2) 4)" 138 153)
  ("(speed(agent2) 5)" 153 192)
  ("(speed(agent2) 4)" 192 196)
  ("(speed(agent2) 3)" 196 220)
  ("(speed(agent2) 2)" 220 237)
  ("(speed(agent2) 3)" 237 243)
  ("(speed(agent2) 4)" 243 249)
  ("(speed(agent2) 5)" 249 297)
  ("(speed(agent2) 4)" 297 310)
  ("(speed(agent2) 3)" 310 324)
  ("(speed(agent2) 2)" 324 339)
  ("(speed(agent2) 3)" 339 345)
  ("(speed(agent2) 4)" 345 352)
  ("(speed(agent2) 5)" 352 397)
  ("(speed(agent2) 4)" 397 409)
  ("(speed(agent2) 3)" 409 423)
  ("(speed(agent2) 2)" 423 444)
  ("(speed(agent2) 3)" 444 449)
  ("(speed(agent2) 4)" 449 463)
  ("(speed(agent2) 5)" 463 502)
  ("(speed(agent2) 4)" 502 506)
  ("(speed(agent2) 3)" 506 528)
  ("(speed(agent2) 2)" 528 545)
  ("(speed(agent2) 3)" 545 552)
  ("(speed(agent2) 4)" 552 557)
  ("(speed(agent2) 5)" 557 605)
  ("(speed(agent2) 4)" 605 620)
  ("(speed(agent2) 3)" 620 633)
  ("(speed(agent2) 2)" 633 648)
  ("(speed(agent2) 3)" 648 654)
  ("(speed(agent2) 4)" 654 663)
  ("(speed(agent2) 5)" 663 706)
  ("(speed(agent2) 4)" 706 716)
  ("(speed(agent2) 3)" 716 731)
  ("(speed(agent2) 2)" 731 750)
  ("(speed(agent2) 3)" 750 756)
  ("(speed(agent2) 4)" 756 763)
  ("(speed(agent2) 5)" 763 808)
  ("(speed(agent2) 4)" 808 820)
  ("(speed(agent2) 3)" 820 840)
  ("(speed(agent2) 2)" 840 853)
  ("(speed(agent2) 3)" 853 860)
  ("(speed(agent2) 4)" 860 873)
  ("(speed(agent2) 5)" 873 915)
  ("(speed(agent2) 4)" 915 920)
  ("(speed(agent2) 3)" 920 935)
  ("(speed(agent2) 2)" 935 949)
  ("(speed(agent2) 1)" 949 959)
  ("(speed(agent2) 2)" 959 966)
  ("(speed(agent2) 3)" 966 971)
  ("(speed(agent2) 4)" 971 992)
  ("(speed(agent2) 5)" 992 1008)
  ("(speed(agent2) 4)" 1008 1014)
  ("(speed(agent2) 3)" 1014 1023)
  ("(speed(agent2) 2)" 1023 1033)
  ("(speed(agent2) 1)" 1033 1061)
  ("(speed(agent2) 2)" 1061 1065)
  ("(speed(agent2) 3)" 1065 1073)
  ("(speed(agent2) 4)" 1073 1091)
  ("(speed(agent2) 5)" 1091 1105)
  ("(speed(agent2) 4)" 1105 1111)
  ("(speed(agent2) 3)" 1111 1115)
  ("(speed(agent2) 2)" 1115 1129)
  ("(speed(agent2) 1)" 1129 1164)
  ("(speed(agent2) 2)" 1164 1175)
  ("(speed(agent2) 3)" 1175 1184)
  ("(speed(agent2) 4)" 1184 1197)
  ("(speed(agent2) 5)" 1197 1210)
  ("(speed(agent2) 4)" 1210 1216)
  ("(speed(agent2) 3)" 1216 1219)
  ("(speed(agent2) 2)" 1219 1224)
  ("(speed(agent2) 1)" 1224 1271)
  ("(speed(agent2) 2)" 1271 1279)
  ("(speed(agent2) 3)" 1279 1288)
  ("(speed(agent2) 4)" 1288 1302)
  ("(speed(agent2) 5)" 1302 1314)
  ("(speed(agent2) 4)" 1314 1321)
  ("(speed(agent2) 3)" 1321 1324)
  ("(speed(agent2) 2)" 1324 1331)
  ("(speed(agent2) 1)" 1331 1374)
  ("(speed(agent2) 2)" 1374 1379)
  ("(speed(agent2) 3)" 1379 1389)
  ("(speed(agent2) 4)" 1389 1405)
  ("(speed(agent2) 5)" 1405 1417)
  ("(speed(agent2) 4)" 1417 1423)
  ("(speed(agent2) 3)" 1423 1427)
  ("(speed(agent2) 2)" 1427 1437)
  ("(speed(agent2) 1)" 1437 1478)
  ("(speed(agent2) 2)" 1478 1490)
  ("(speed(agent2) 3)" 1490 1498)
  ("(speed(agent2) 4)" 1498 1510)
  ("(speed(agent2) 5)" 1510 1522)
  ("(speed(agent2) 4)" 1522 1528)
  ("(speed(agent2) 3)" 1528 1532)
  ("(speed(agent2) 2)" 1532 1535)
  ("(speed(agent2) 1)" 1535 1584)
  ("(speed(agent2) 2)" 1584 1591)
  ("(speed(agent2) 3)" 1591 1601)
  ("(speed(agent2) 4)" 1601 1616)
  ("(speed(agent2) 5)" 1616 1629)
  ("(speed(agent2) 4)" 1629 1635)
  ("(speed(agent2) 3)" 1635 1639)
  ("(speed(agent2) 2)" 1639 1648)
  ("(speed(agent2) 1)" 1648 1688)
  ("(speed(agent2) 2)" 1688 1693)
  ("(speed(agent2) 3)" 1693 1703)
  ("(speed(agent2) 4)" 1703 1718)
  ("(speed(agent2) 5)" 1718 1731)
  ("(speed(agent2) 4)" 1731 1737)
  ("(speed(agent2) 3)" 1737 1741)
  ("(speed(agent2) 2)" 1741 1751)
  ("(speed(agent2) 1)" 1751 1789)
  ("(speed(agent2) 2)" 1789 1794)
  ("(speed(agent2) 3)" 1794 1804)
  ("(speed(agent2) 4)" 1804 1820)
  ("(speed(agent2) 5)" 1820 1832)
  ("(speed(agent2) 4)" 1832 1838)
  ("(speed(agent2) 3)" 1838 1842)
  ("(speed(agent2) 2)" 1842 1852)
  ("(speed(agent2) 1)" 1852 1892)
  ("(speed(agent2) 2)" 1892 1902)
  ("(speed(agent2) 3)" 1902 1921)
  ("(speed(agent2) 4)" 1921 1933)
  ("(speed(agent2) 3)" 1933 1939)
  ("(speed(agent2) 2)" 1939 1943)
  ("(speed(agent2) 1)" 1943 1994)
  ("(speed(agent2) 2)" 1994 2008)
  ("(speed(agent2) 3)" 2008 2026)
  ("(speed(agent2) 4)" 2026 2030)
  ("(speed(agent2) 3)" 2030 2037)
  ("(speed(agent2) 2)" 2037 2041)
  ("(speed(agent2) 1)" 2041 2076)
  ("(speed(agent2) 2)" 2076 2080)
  ("(speed(agent2) 3)" 2080 2085)
  ("(speed(agent2) 4)" 2085 2091)
  ("(speed(agent2) 5)" 2091 2097)
  ("(speed(agent2) 4)" 2097 2103)
  ("(speed(agent2) 5)" 2103 2117)
  ("(speed(agent2) 4)" 2117 2122)
  ("(speed(agent2) 3)" 2122 2126)
  ("(speed(agent2) 2)" 2126 2130)
  ("(speed(agent2) 1)" 2130 2144)
  ("(speed(agent2) 2)" 2144 2149)
  ("(speed(agent2) 3)" 2149 2175)
  ("(speed(agent2) 4)" 2175 2182)
  ("(speed(agent2) 3)" 2182 2189)
  ("(speed(agent2) 2)" 2189 2198)
  ("(speed(agent2) 1)" 2198 2205)
  ("(speed(agent2) 2)" 2205 2226)
  ("(speed(agent2) 3)" 2226 2231)
  ("(speed(agent2) 4)" 2231 2234)
  ("(speed(agent2) down)" 94 98)
  ("(speed(agent2) up)" 98 130)
  ("(speed(agent2) down)" 130 178)
  ("(speed(agent2) up)" 178 231)
  ("(speed(agent2) down)" 231 283)
  ("(speed(agent2) up)" 283 332)
  ("(speed(agent2) down)" 332 383)
  ("(speed(agent2) up)" 383 436)
  ("(speed(agent2) down)" 436 488)
  ("(speed(agent2) up)" 488 540)
  ("(speed(agent2) down)" 540 591)
  ("(speed(agent2) up)" 591 641)
  ("(speed(agent2) stable)" 641 642)
  ("(speed(agent2) down)" 642 692)
  ("(speed(agent2) up)" 692 743)
  ("(speed(agent2) down)" 743 794)
  ("(speed(agent2) up)" 794 848)
  ("(speed(agent2) down)" 848 900)
  ("(speed(agent2) stable)" 900 901)
  ("(speed(agent2) up)" 901 954)
  ("(speed(agent2) down)" 954 1003)
  ("(speed(agent2) up)" 1003 1050)
  ("(speed(agent2) down)" 1050 1099)
  ("(speed(agent2) stable)" 1099 1100)
  ("(speed(agent2) up)" 1100 1153)
  ("(speed(agent2) down)" 1153 1204)
  ("(speed(agent2) up)" 1204 1257)
  ("(speed(agent2) stable)" 1257 1258)
  ("(speed(agent2) down)" 1258 1309)
  ("(speed(agent2) up)" 1309 1361)
  ("(speed(agent2) down)" 1361 1412)
  ("(speed(agent2) up)" 1412 1465)
  ("(speed(agent2) down)" 1465 1517)
  ("(speed(agent2) up)" 1517 1572)
  ("(speed(agent2) down)" 1572 1624)
  ("(speed(agent2) up)" 1624 1675)
  ("(speed(agent2) down)" 1675 1726)
  ("(speed(agent2) up)" 1726 1776)
  ("(speed(agent2) down)" 1776 1827)
  ("(speed(agent2) up)" 1827 1881)
  ("(speed(agent2) down)" 1881 1931)
  ("(speed(agent2) up)" 1931 1978)
  ("(speed(agent2) stable)" 1978 1979)
  ("(speed(agent2) down)" 1979 2028)
  ("(speed(agent2) up)" 2028 2062)
  ("(speed(agent2) down)" 2062 2094)
  ("(speed(agent2) up)" 2094 2100)
  ("(speed(agent2) down)" 2100 2111)
  ("(speed(agent2) up)" 2111 2137)
  ("(speed(agent2) stable)" 2137 2138)
  ("(speed(agent2) down)" 2138 2180)
  ("(speed(agent2) up)" 2180 2202)
  ("(speed(agent2) down)" 2202 2234)
  ("(heading(agent2) 4)" 118 119)
  ("(heading(agent2) 5)" 119 201)
  ("(heading(agent2) 4)" 201 204)
  ("(heading(agent2) 3)" 204 207)
  ("(heading(agent2) 2)" 207 213)
  ("(heading(agent2) 1)" 213 303)
  ("(heading(agent2) 2)" 303 312)
  ("(heading(agent2) 3)" 312 373)
  ("(heading(agent2) 4)" 373 379)
  ("(heading(agent2) 3)" 379 398)
  ("(heading(agent2) 2)" 398 409)
  ("(heading(agent2) 1)" 409 431)
  ("(heading(agent2) 2)" 431 439)
  ("(heading(agent2) 1)" 439 507)
  ("(heading(agent2) 2)" 507 678)
  ("(heading(agent2) 3)" 678 698)
  ("(heading(agent2) 2)" 698 935)
  ("(heading(agent2) 1)" 935 1104)
  ("(heading(agent2) 2)" 1104 1113)
  ("(heading(agent2) 3)" 1113 1120)
  ("(heading(agent2) 4)" 1120 1127)
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  ("(relativeX(agent1 agent2) 4)" 1979 1990)
  ("(relativeX(agent1 agent2) 3)" 1990 1995)
  ("(relativeX(agent1 agent2) 2)" 1995 2001)
  ("(relativeX(agent1 agent2) 1)" 2001 2045)
  ("(relativeX(agent1 agent2) 2)" 2045 2051)
  ("(relativeX(agent1 agent2) 3)" 2051 2058)
  ("(relativeX(agent1 agent2) 4)" 2058 2071)
  ("(relativeX(agent1 agent2) 5)" 2071 2151)
  ("(relativeX(agent1 agent2) 4)" 2151 2170)
  ("(relativeX(agent1 agent2) 3)" 2170 2180)
  ("(relativeX(agent1 agent2) 4)" 2180 2197)
  ("(relativeX(agent1 agent2) 5)" 2197 2234)
  ("(relativeX(agent1 agent2) up)" 94 171)
  ("(relativeX(agent1 agent2) stable)" 171 172)
  ("(relativeX(agent1 agent2) down)" 172 231)
  ("(relativeX(agent1 agent2) stable)" 231 232)
  ("(relativeX(agent1 agent2) up)" 232 279)
  ("(relativeX(agent1 agent2) down)" 279 326)
  ("(relativeX(agent1 agent2) up)" 326 377)
  ("(relativeX(agent1 agent2) stable)" 377 378)
  ("(relativeX(agent1 agent2) down)" 378 429)
  ("(relativeX(agent1 agent2) stable)" 429 430)
  ("(relativeX(agent1 agent2) up)" 430 483)
  ("(relativeX(agent1 agent2) stable)" 483 484)
  ("(relativeX(agent1 agent2) down)" 484 537)
  ("(relativeX(agent1 agent2) stable)" 537 538)
  ("(relativeX(agent1 agent2) up)" 538 586)
  ("(relativeX(agent1 agent2) stable)" 586 587)
  ("(relativeX(agent1 agent2) down)" 587 635)
  ("(relativeX(agent1 agent2) stable)" 635 636)
  ("(relativeX(agent1 agent2) up)" 636 687)
  ("(relativeX(agent1 agent2) stable)" 687 688)
  ("(relativeX(agent1 agent2) down)" 688 739)
  ("(relativeX(agent1 agent2) up)" 739 789)
  ("(relativeX(agent1 agent2) stable)" 789 790)
  ("(relativeX(agent1 agent2) down)" 790 841)
  ("(relativeX(agent1 agent2) stable)" 841 842)
  ("(relativeX(agent1 agent2) up)" 842 895)
  ("(relativeX(agent1 agent2) stable)" 895 896)
  ("(relativeX(agent1 agent2) down)" 896 948)
  ("(relativeX(agent1 agent2) stable)" 948 949)
  ("(relativeX(agent1 agent2) up)" 949 998)
  ("(relativeX(agent1 agent2) down)" 998 1045)
  ("(relativeX(agent1 agent2) up)" 1045 1095)
  ("(relativeX(agent1 agent2) down)" 1095 1143)
  ("(relativeX(agent1 agent2) stable)" 1143 1144)
  ("(relativeX(agent1 agent2) up)" 1144 1199)
  ("(relativeX(agent1 agent2) stable)" 1199 1200)
  ("(relativeX(agent1 agent2) down)" 1200 1253)
  ("(relativeX(agent1 agent2) stable)" 1253 1254)
  ("(relativeX(agent1 agent2) up)" 1254 1304)
  ("(relativeX(agent1 agent2) stable)" 1304 1305)
  ("(relativeX(agent1 agent2) down)" 1305 1357)
  ("(relativeX(agent1 agent2) up)" 1357 1407)
  ("(relativeX(agent1 agent2) stable)" 1407 1408)
  ("(relativeX(agent1 agent2) down)" 1408 1457)
  ("(relativeX(agent1 agent2) stable)" 1457 1458)
  ("(relativeX(agent1 agent2) up)" 1458 1512)
  ("(relativeX(agent1 agent2) down)" 1512 1568)
  ("(relativeX(agent1 agent2) up)" 1568 1619)
  ("(relativeX(agent1 agent2) stable)" 1619 1620)
  ("(relativeX(agent1 agent2) down)" 1620 1670)
  ("(relativeX(agent1 agent2) stable)" 1670 1671)
  ("(relativeX(agent1 agent2) up)" 1671 1721)
  ("(relativeX(agent1 agent2) down)" 1721 1772)
  ("(relativeX(agent1 agent2) up)" 1772 1822)
  ("(relativeX(agent1 agent2) stable)" 1822 1823)
  ("(relativeX(agent1 agent2) down)" 1823 1874)
  ("(relativeX(agent1 agent2) up)" 1874 1925)
  ("(relativeX(agent1 agent2) stable)" 1925 1926)
  ("(relativeX(agent1 agent2) down)" 1926 1974)
  ("(relativeX(agent1 agent2) up)" 1974 2024)
  ("(relativeX(agent1 agent2) down)" 2024 2084)
  ("(relativeX(agent1 agent2) stable)" 2084 2085)
  ("(relativeX(agent1 agent2) up)" 2085 2097)
  ("(relativeX(agent1 agent2) stable)" 2097 2098)
  ("(relativeX(agent1 agent2) down)" 2098 2130)
  ("(relativeX(agent1 agent2) stable)" 2130 2131)
  ("(relativeX(agent1 agent2) up)" 2131 2175)
  ("(relativeX(agent1 agent2) stable)" 2175 2176)
  ("(relativeX(agent1 agent2) down)" 2176 2222)
  ("(relativeX(agent1 agent2) up)" 2222 2234)
  ("(relativeY(agent1 agent2) 4)" 93 96)
  ("(relativeY(agent1 agent2) 5)" 96 137)
  ("(relativeY(agent1 agent2) 4)" 137 145)
  ("(relativeY(agent1 agent2) 3)" 145 152)
  ("(relativeY(agent1 agent2) 2)" 152 164)
  ("(relativeY(agent1 agent2) 1)" 164 183)
  ("(relativeY(agent1 agent2) 2)" 183 194)
  ("(relativeY(agent1 agent2) 3)" 194 201)
  ("(relativeY(agent1 agent2) 4)" 201 210)
  ("(relativeY(agent1 agent2) 5)" 210 243)
  ("(relativeY(agent1 agent2) 4)" 243 252)
  ("(relativeY(agent1 agent2) 3)" 252 260)
  ("(relativeY(agent1 agent2) 2)" 260 294)
  ("(relativeY(agent1 agent2) 3)" 294 301)
  ("(relativeY(agent1 agent2) 4)" 301 310)
  ("(relativeY(agent1 agent2) 5)" 310 343)
  ("(relativeY(agent1 agent2) 4)" 343 352)
  ("(relativeY(agent1 agent2) 3)" 352 360)
  ("(relativeY(agent1 agent2) 2)" 360 395)
  ("(relativeY(agent1 agent2) 3)" 395 402)
  ("(relativeY(agent1 agent2) 4)" 402 412)
  ("(relativeY(agent1 agent2) 5)" 412 443)
  ("(relativeY(agent1 agent2) 4)" 443 451)
  ("(relativeY(agent1 agent2) 3)" 451 458)
  ("(relativeY(agent1 agent2) 2)" 458 467)
  ("(relativeY(agent1 agent2) 1)" 467 498)
  ("(relativeY(agent1 agent2) 2)" 498 507)
  ("(relativeY(agent1 agent2) 3)" 507 513)
  ("(relativeY(agent1 agent2) 4)" 513 522)
  ("(relativeY(agent1 agent2) 5)" 522 553)
  ("(relativeY(agent1 agent2) 4)" 553 562)
  ("(relativeY(agent1 agent2) 3)" 562 571)
  ("(relativeY(agent1 agent2) 2)" 571 600)
  ("(relativeY(agent1 agent2) 3)" 600 608)
  ("(relativeY(agent1 agent2) 4)" 608 618)
  ("(relativeY(agent1 agent2) 5)" 618 651)
  ("(relativeY(agent1 agent2) 4)" 651 659)
  ("(relativeY(agent1 agent2) 3)" 659 667)
  ("(relativeY(agent1 agent2) 2)" 667 679)
  ("(relativeY(agent1 agent2) 1)" 679 694)
  ("(relativeY(agent1 agent2) 2)" 694 706)
  ("(relativeY(agent1 agent2) 3)" 706 713)
  ("(relativeY(agent1 agent2) 4)" 713 723)
  ("(relativeY(agent1 agent2) 5)" 723 753)
  ("(relativeY(agent1 agent2) 4)" 753 762)
  ("(relativeY(agent1 agent2) 3)" 762 770)
  ("(relativeY(agent1 agent2) 2)" 770 786)
  ("(relativeY(agent1 agent2) 1)" 786 792)
  ("(relativeY(agent1 agent2) 2)" 792 807)
  ("(relativeY(agent1 agent2) 3)" 807 814)
  ("(relativeY(agent1 agent2) 4)" 814 823)
  ("(relativeY(agent1 agent2) 5)" 823 857)
  ("(relativeY(agent1 agent2) 4)" 857 865)
  ("(relativeY(agent1 agent2) 3)" 865 872)
  ("(relativeY(agent1 agent2) 2)" 872 882)
  ("(relativeY(agent1 agent2) 1)" 882 908)
  ("(relativeY(agent1 agent2) 2)" 908 917)
  ("(relativeY(agent1 agent2) 3)" 917 924)
  ("(relativeY(agent1 agent2) 4)" 924 933)
  ("(relativeY(agent1 agent2) 5)" 933 961)
  ("(relativeY(agent1 agent2) 4)" 961 969)
  ("(relativeY(agent1 agent2) 3)" 969 976)
  ("(relativeY(agent1 agent2) 2)" 976 985)
  ("(relativeY(agent1 agent2) 1)" 985 1009)
  ("(relativeY(agent1 agent2) 2)" 1009 1018)
  ("(relativeY(agent1 agent2) 3)" 1018 1024)
  ("(relativeY(agent1 agent2) 4)" 1024 1035)
  ("(relativeY(agent1 agent2) 5)" 1035 1054)
  ("(relativeY(agent1 agent2) 4)" 1054 1064)
  ("(relativeY(agent1 agent2) 3)" 1064 1070)
  ("(relativeY(agent1 agent2) 2)" 1070 1078)
  ("(relativeY(agent1 agent2) 1)" 1078 1110)
  ("(relativeY(agent1 agent2) 2)" 1110 1117)
  ("(relativeY(agent1 agent2) 3)" 1117 1123)
  ("(relativeY(agent1 agent2) 4)" 1123 1132)
  ("(relativeY(agent1 agent2) 5)" 1132 1157)
  ("(relativeY(agent1 agent2) 4)" 1157 1164)
  ("(relativeY(agent1 agent2) 3)" 1164 1169)
  ("(relativeY(agent1 agent2) 2)" 1169 1176)
  ("(relativeY(agent1 agent2) 1)" 1176 1221)
  ("(relativeY(agent1 agent2) 2)" 1221 1228)
  ("(relativeY(agent1 agent2) 3)" 1228 1234)
  ("(relativeY(agent1 agent2) 4)" 1234 1243)
  ("(relativeY(agent1 agent2) 5)" 1243 1261)
  ("(relativeY(agent1 agent2) 4)" 1261 1270)
  ("(relativeY(agent1 agent2) 3)" 1270 1276)
  ("(relativeY(agent1 agent2) 2)" 1276 1282)
  ("(relativeY(agent1 agent2) 1)" 1282 1325)
  ("(relativeY(agent1 agent2) 2)" 1325 1331)
  ("(relativeY(agent1 agent2) 3)" 1331 1337)
  ("(relativeY(agent1 agent2) 4)" 1337 1347)
  ("(relativeY(agent1 agent2) 5)" 1347 1365)
  ("(relativeY(agent1 agent2) 4)" 1365 1375)
  ("(relativeY(agent1 agent2) 3)" 1375 1380)
  ("(relativeY(agent1 agent2) 2)" 1380 1388)
  ("(relativeY(agent1 agent2) 1)" 1388 1425)
  ("(relativeY(agent1 agent2) 2)" 1425 1432)
  ("(relativeY(agent1 agent2) 3)" 1432 1438)
  ("(relativeY(agent1 agent2) 4)" 1438 1448)
  ("(relativeY(agent1 agent2) 5)" 1448 1466)
  ("(relativeY(agent1 agent2) 4)" 1466 1475)
  ("(relativeY(agent1 agent2) 3)" 1475 1480)
  ("(relativeY(agent1 agent2) 2)" 1480 1486)
  ("(relativeY(agent1 agent2) 1)" 1486 1536)
  ("(relativeY(agent1 agent2) 2)" 1536 1542)
  ("(relativeY(agent1 agent2) 3)" 1542 1548)
  ("(relativeY(agent1 agent2) 4)" 1548 1557)
  ("(relativeY(agent1 agent2) 5)" 1557 1578)
  ("(relativeY(agent1 agent2) 4)" 1578 1586)
  ("(relativeY(agent1 agent2) 3)" 1586 1592)
  ("(relativeY(agent1 agent2) 2)" 1592 1599)
  ("(relativeY(agent1 agent2) 1)" 1599 1638)
  ("(relativeY(agent1 agent2) 2)" 1638 1644)
  ("(relativeY(agent1 agent2) 3)" 1644 1651)
  ("(relativeY(agent1 agent2) 4)" 1651 1660)
  ("(relativeY(agent1 agent2) 5)" 1660 1680)
  ("(relativeY(agent1 agent2) 4)" 1680 1689)
  ("(relativeY(agent1 agent2) 3)" 1689 1694)
  ("(relativeY(agent1 agent2) 2)" 1694 1702)
  ("(relativeY(agent1 agent2) 1)" 1702 1739)
  ("(relativeY(agent1 agent2) 2)" 1739 1746)
  ("(relativeY(agent1 agent2) 3)" 1746 1752)
  ("(relativeY(agent1 agent2) 4)" 1752 1762)
  ("(relativeY(agent1 agent2) 5)" 1762 1780)
  ("(relativeY(agent1 agent2) 4)" 1780 1790)
  ("(relativeY(agent1 agent2) 3)" 1790 1795)
  ("(relativeY(agent1 agent2) 2)" 1795 1803)
  ("(relativeY(agent1 agent2) 1)" 1803 1840)
  ("(relativeY(agent1 agent2) 2)" 1840 1847)
  ("(relativeY(agent1 agent2) 3)" 1847 1853)
  ("(relativeY(agent1 agent2) 4)" 1853 1862)
  ("(relativeY(agent1 agent2) 5)" 1862 1885)
  ("(relativeY(agent1 agent2) 4)" 1885 1893)
  ("(relativeY(agent1 agent2) 3)" 1893 1898)
  ("(relativeY(agent1 agent2) 2)" 1898 1905)
  ("(relativeY(agent1 agent2) 1)" 1905 1943)
  ("(relativeY(agent1 agent2) 2)" 1943 1950)
  ("(relativeY(agent1 agent2) 3)" 1950 1956)
  ("(relativeY(agent1 agent2) 4)" 1956 1966)
  ("(relativeY(agent1 agent2) 5)" 1966 1981)
  ("(relativeY(agent1 agent2) 4)" 1981 1990)
  ("(relativeY(agent1 agent2) 3)" 1990 1995)
  ("(relativeY(agent1 agent2) 2)" 1995 2001)
  ("(relativeY(agent1 agent2) 1)" 2001 2044)
  ("(relativeY(agent1 agent2) 2)" 2044 2051)
  ("(relativeY(agent1 agent2) 3)" 2051 2057)
  ("(relativeY(agent1 agent2) 4)" 2057 2068)
  ("(relativeY(agent1 agent2) 5)" 2068 2154)
  ("(relativeY(agent1 agent2) 4)" 2154 2192)
  ("(relativeY(agent1 agent2) 5)" 2192 2234)
  ("(relativeY(agent1 agent2) down)" 94 118)
  ("(relativeY(agent1 agent2) stable)" 118 119)
  ("(relativeY(agent1 agent2) up)" 119 174)
  ("(relativeY(agent1 agent2) down)" 174 227)
  ("(relativeY(agent1 agent2) stable)" 227 228)
  ("(relativeY(agent1 agent2) up)" 228 278)
  ("(relativeY(agent1 agent2) down)" 278 327)
  ("(relativeY(agent1 agent2) stable)" 327 328)
  ("(relativeY(agent1 agent2) up)" 328 378)
  ("(relativeY(agent1 agent2) stable)" 378 379)
  ("(relativeY(agent1 agent2) down)" 379 428)
  ("(relativeY(agent1 agent2) stable)" 428 429)
  ("(relativeY(agent1 agent2) up)" 429 483)
  ("(relativeY(agent1 agent2) down)" 483 538)
  ("(relativeY(agent1 agent2) up)" 538 586)
  ("(relativeY(agent1 agent2) stable)" 586 587)
  ("(relativeY(agent1 agent2) down)" 587 635)
  ("(relativeY(agent1 agent2) stable)" 635 636)
  ("(relativeY(agent1 agent2) up)" 636 687)
  ("(relativeY(agent1 agent2) stable)" 687 688)
  ("(relativeY(agent1 agent2) down)" 688 739)
  ("(relativeY(agent1 agent2) up)" 739 789)
  ("(relativeY(agent1 agent2) stable)" 789 790)
  ("(relativeY(agent1 agent2) down)" 790 841)
  ("(relativeY(agent1 agent2) stable)" 841 842)
  ("(relativeY(agent1 agent2) up)" 842 896)
  ("(relativeY(agent1 agent2) down)" 896 948)
  ("(relativeY(agent1 agent2) up)" 948 998)
  ("(relativeY(agent1 agent2) down)" 998 1045)
  ("(relativeY(agent1 agent2) up)" 1045 1095)
  ("(relativeY(agent1 agent2) down)" 1095 1145)
  ("(relativeY(agent1 agent2) stable)" 1145 1146)
  ("(relativeY(agent1 agent2) up)" 1146 1200)
  ("(relativeY(agent1 agent2) down)" 1200 1253)
  ("(relativeY(agent1 agent2) up)" 1253 1304)
  ("(relativeY(agent1 agent2) stable)" 1304 1305)
  ("(relativeY(agent1 agent2) down)" 1305 1357)
  ("(relativeY(agent1 agent2) up)" 1357 1407)
  ("(relativeY(agent1 agent2) stable)" 1407 1408)
  ("(relativeY(agent1 agent2) down)" 1408 1458)
  ("(relativeY(agent1 agent2) up)" 1458 1512)
  ("(relativeY(agent1 agent2) down)" 1512 1568)
  ("(relativeY(agent1 agent2) up)" 1568 1619)
  ("(relativeY(agent1 agent2) stable)" 1619 1620)
  ("(relativeY(agent1 agent2) down)" 1620 1670)
  ("(relativeY(agent1 agent2) stable)" 1670 1671)
  ("(relativeY(agent1 agent2) up)" 1671 1721)
  ("(relativeY(agent1 agent2) stable)" 1721 1722)
  ("(relativeY(agent1 agent2) down)" 1722 1771)
  ("(relativeY(agent1 agent2) stable)" 1771 1772)
  ("(relativeY(agent1 agent2) up)" 1772 1822)
  ("(relativeY(agent1 agent2) down)" 1822 1874)
  ("(relativeY(agent1 agent2) up)" 1874 1926)
  ("(relativeY(agent1 agent2) down)" 1926 1974)
  ("(relativeY(agent1 agent2) up)" 1974 2024)
  ("(relativeY(agent1 agent2) down)" 2024 2084)
  ("(relativeY(agent1 agent2) stable)" 2084 2085)
  ("(relativeY(agent1 agent2) up)" 2085 2098)
  ("(relativeY(agent1 agent2) down)" 2098 2130)
  ("(relativeY(agent1 agent2) stable)" 2130 2131)
  ("(relativeY(agent1 agent2) up)" 2131 2174)
  ("(relativeY(agent1 agent2) stable)" 2174 2175)
  ("(relativeY(agent1 agent2) down)" 2175 2221)
  ("(relativeY(agent1 agent2) stable)" 2221 2222)
  ("(relativeY(agent1 agent2) up)" 2222 2234)
  ("(x(wall2) 3)" 2182 2319)
  ("(x(wall2) stable)" 2183 2319)
  ("(y(wall2) 3)" 2182 2319)
  ("(y(wall2) stable)" 2183 2319)
  ("(speed(wall2) 3)" 2182 2319)
  ("(speed(wall2) stable)" 2183 2319)
  ("(heading(wall2) 3)" 2207 2294)
  ("(heading(wall2) stable)" 2208 2294)
  ("novel(agent1 wall2)" 2158 2226)
  ("(distance(agent1 wall2) 1)" 2182 2224)
  ("(distance(agent1 wall2) 2)" 2224 2241)
  ("(distance(agent1 wall2) 3)" 2241 2256)
  ("(distance(agent1 wall2) 4)" 2256 2282)
  ("(distance(agent1 wall2) 5)" 2282 2319)
  ("(distance(agent1 wall2) up)" 2183 2192)
  ("(distance(agent1 wall2) stable)" 2192 2193)
  ("(distance(agent1 wall2) down)" 2193 2319)
  ("(relativeX(agent1 wall2) 5)" 2182 2224)
  ("(relativeX(agent1 wall2) 4)" 2224 2241)
  ("(relativeX(agent1 wall2) 3)" 2241 2256)
  ("(relativeX(agent1 wall2) 2)" 2256 2282)
  ("(relativeX(agent1 wall2) 1)" 2282 2319)
  ("(relativeX(agent1 wall2) down)" 2183 2192)
  ("(relativeX(agent1 wall2) stable)" 2192 2193)
  ("(relativeX(agent1 wall2) up)" 2193 2319)
  ("(relativeY(agent1 wall2) 5)" 2182 2224)
  ("(relativeY(agent1 wall2) 4)" 2224 2241)
  ("(relativeY(agent1 wall2) 3)" 2241 2256)
  ("(relativeY(agent1 wall2) 2)" 2256 2282)
  ("(relativeY(agent1 wall2) 1)" 2282 2319)
  ("(relativeY(agent1 wall2) down)" 2183 2192)
  ("(relativeY(agent1 wall2) stable)" 2192 2193)
  ("(relativeY(agent1 wall2) up)" 2193 2319)
 ))
(10
 (
  ("(x(agent1) 3)" 25 327)
  ("(x(agent1) 2)" 327 451)
  ("(x(agent1) 1)" 451 1144)
  ("(x(agent1) 2)" 1144 1261)
  ("(x(agent1) 3)" 1261 1346)
  ("(x(agent1) 4)" 1346 1447)
  ("(x(agent1) 5)" 1447 1979)
  ("(x(agent1) 4)" 1979 2371)
  ("(x(agent1) stable)" 26 52)
  ("(x(agent1) down)" 52 65)
  ("(x(agent1) stable)" 65 190)
  ("(x(agent1) up)" 190 603)
  ("(x(agent1) stable)" 603 977)
  ("(x(agent1) down)" 977 1706)
  ("(x(agent1) stable)" 1706 1759)
  ("(x(agent1) up)" 1759 2083)
  ("(x(agent1) stable)" 2083 2095)
  ("(x(agent1) down)" 2095 2124)
  ("(x(agent1) stable)" 2124 2142)
  ("(x(agent1) up)" 2142 2176)
  ("(x(agent1) stable)" 2176 2194)
  ("(x(agent1) down)" 2194 2229)
  ("(x(agent1) stable)" 2229 2248)
  ("(x(agent1) up)" 2248 2281)
  ("(x(agent1) stable)" 2281 2299)
  ("(x(agent1) down)" 2299 2336)
  ("(x(agent1) stable)" 2336 2354)
  ("(x(agent1) up)" 2354 2371)
  ("(y(agent1) 1)" 25 279)
  ("(y(agent1) 2)" 279 380)
  ("(y(agent1) 3)" 380 510)
  ("(y(agent1) 4)" 510 994)
  ("(y(agent1) 3)" 994 1071)
  ("(y(agent1) 2)" 1071 1173)
  ("(y(agent1) 1)" 1173 1517)
  ("(y(agent1) 2)" 1517 1617)
  ("(y(agent1) 3)" 1617 1687)
  ("(y(agent1) 4)" 1687 1814)
  ("(y(agent1) 5)" 1814 2371)
  ("(y(agent1) down)" 26 612)
  ("(y(agent1) stable)" 612 632)
  ("(y(agent1) up)" 632 696)
  ("(y(agent1) stable)" 696 910)
  ("(y(agent1) up)" 910 1312)
  ("(y(agent1) stable)" 1312 1378)
  ("(y(agent1) down)" 1378 1978)
  ("(y(agent1) stable)" 1978 2371)
  ("(speed(agent1) 5)" 25 32)
  ("(speed(agent1) 4)" 32 54)
  ("(speed(agent1) 3)" 54 84)
  ("(speed(agent1) 2)" 84 480)
  ("(speed(agent1) 3)" 480 512)
  ("(speed(agent1) 2)" 512 568)
  ("(speed(agent1) 3)" 568 584)
  ("(speed(agent1) 4)" 584 597)
  ("(speed(agent1) 5)" 597 938)
  ("(speed(agent1) 4)" 938 960)
  ("(speed(agent1) 3)" 960 990)
  ("(speed(agent1) 2)" 990 1735)
  ("(speed(agent1) 3)" 1735 1747)
  ("(speed(agent1) 4)" 1747 1764)
  ("(speed(agent1) 5)" 1764 1783)
  ("(speed(agent1) 4)" 1783 1817)
  ("(speed(agent1) 3)" 1817 1866)
  ("(speed(agent1) 2)" 1866 2068)
  ("(speed(agent1) 3)" 2068 2086)
  ("(speed(agent1) 4)" 2086 2101)
  ("(speed(agent1) 5)" 2101 2292)
  ("(speed(agent1) 4)" 2292 2302)
  ("(speed(agent1) 5)" 2302 2371)
  ("(speed(agent1) up)" 26 199)
  ("(speed(agent1) stable)" 199 433)
  ("(speed(agent1) down)" 433 489)
  ("(speed(agent1) stable)" 489 490)
  ("(speed(agent1) up)" 490 553)
  ("(speed(agent1) stable)" 553 554)
  ("(speed(agent1) down)" 554 626)
  ("(speed(agent1) stable)" 626 628)
  ("(speed(agent1) up)" 628 662)
  ("(speed(agent1) stable)" 662 664)
  ("(speed(agent1) down)" 664 722)
  ("(speed(agent1) stable)" 722 726)
  ("(speed(agent1) down)" 726 790)
  ("(speed(agent1) stable)" 790 884)
  ("(speed(agent1) up)" 884 1105)
  ("(speed(agent1) stable)" 1105 1711)
  ("(speed(agent1) down)" 1711 1773)
  ("(speed(agent1) stable)" 1773 1774)
  ("(speed(agent1) up)" 1774 1965)
  ("(speed(agent1) stable)" 1965 2016)
  ("(speed(agent1) up)" 2016 2054)
  ("(speed(agent1) down)" 2054 2138)
  ("(speed(agent1) up)" 2138 2191)
  ("(speed(agent1) stable)" 2191 2192)
  ("(speed(agent1) down)" 2192 2243)
  ("(speed(agent1) stable)" 2243 2244)
  ("(speed(agent1) up)" 2244 2297)
  ("(speed(agent1) stable)" 2297 2298)
  ("(speed(agent1) down)" 2298 2349)
  ("(speed(agent1) stable)" 2349 2350)
  ("(speed(agent1) up)" 2350 2371)
  ("(heading(agent1) 3)" 50 89)
  ("(heading(agent1) 2)" 89 361)
  ("(heading(agent1) 1)" 361 469)
  ("(heading(agent1) 2)" 469 762)
  ("(heading(agent1) 1)" 762 798)
  ("(heading(agent1) 5)" 798 1184)
  ("(heading(agent1) 4)" 1184 1456)
  ("(heading(agent1) 3)" 1456 1689)
  ("(heading(agent1) 2)" 1689 1844)
  ("(heading(agent1) 1)" 1844 2011)
  ("(heading(agent1) 5)" 2011 2047)
  ("(heading(agent1) 1)" 2047 2244)
  ("(heading(agent1) 5)" 2244 2324)
  ("(heading(agent1) 1)" 2324 2346)
  ("(heading(agent1) up)" 51 415)
  ("(heading(agent1) stable)" 415 424)
  ("(heading(agent1) down)" 424 625)
  ("(heading(agent1) stable)" 625 626)
  ("(heading(agent1) down)" 626 632)
  ("(heading(agent1) stable)" 632 636)
  ("(heading(agent1) down)" 636 644)
  ("(heading(agent1) stable)" 644 648)
  ("(heading(agent1) down)" 648 651)
  ("(heading(agent1) stable)" 651 664)
  ("(heading(agent1) up)" 664 2007)
  ("(heading(agent1) stable)" 2007 2346)
  ("(energy(agent1) 2)" 25 2058)
  ("(energy(agent1) 3)" 2058 2072)
  ("(energy(agent1) 4)" 2072 2088)
  ("(energy(agent1) 5)" 2088 2371)
  ("(energy(agent1) stable)" 26 2055)
  ("(energy(agent1) down)" 2055 2106)
  ("(energy(agent1) stable)" 2106 2156)
  ("(energy(agent1) down)" 2156 2207)
  ("(energy(agent1) stable)" 2207 2262)
  ("(energy(agent1) down)" 2262 2313)
  ("(energy(agent1) stable)" 2313 2371)
  ("(arousal(agent1) 1)" 25 54)
  ("(arousal(agent1) 2)" 54 267)
  ("(arousal(agent1) 3)" 267 308)
  ("(arousal(agent1) 2)" 308 413)
  ("(arousal(agent1) 1)" 413 779)
  ("(arousal(agent1) 2)" 779 992)
  ("(arousal(agent1) 3)" 992 1173)
  ("(arousal(agent1) 4)" 1173 1386)
  ("(arousal(agent1) 5)" 1386 2071)
  ("(arousal(agent1) 4)" 2071 2090)
  ("(arousal(agent1) 3)" 2090 2111)
  ("(arousal(agent1) 2)" 2111 2186)
  ("(arousal(agent1) 1)" 2186 2371)
  ("(arousal(agent1) down)" 26 282)
  ("(arousal(agent1) stable)" 282 294)
  ("(arousal(agent1) up)" 294 545)
  ("(arousal(agent1) stable)" 545 557)
  ("(arousal(agent1) down)" 557 1591)
  ("(arousal(agent1) stable)" 1591 1603)
  ("(arousal(agent1) up)" 1603 1688)
  ("(arousal(agent1) stable)" 1688 1700)
  ("(arousal(agent1) down)" 1700 1959)
  ("(arousal(agent1) stable)" 1959 1971)
  ("(arousal(agent1) up)" 1971 2146)
  ("(arousal(agent1) stable)" 2146 2155)
  ("(arousal(agent1) up)" 2155 2206)
  ("(arousal(agent1) down)" 2206 2261)
  ("(arousal(agent1) up)" 2261 2312)
  ("(arousal(agent1) down)" 2312 2341)
  ("(arousal(agent1) stable)" 2341 2353)
  ("(arousal(agent1) up)" 2353 2371)
  ("(valence(agent1) 4)" 25 2056)
  ("(valence(agent1) 3)" 2056 2066)
  ("(valence(agent1) 2)" 2066 2078)
  ("(valence(agent1) 1)" 2078 2371)
  ("(valence(agent1) stable)" 26 2054)
  ("(valence(agent1) up)" 2054 2105)
  ("(valence(agent1) down)" 2105 2155)
  ("(valence(agent1) up)" 2155 2206)
  ("(valence(agent1) down)" 2206 2261)
  ("(valence(agent1) up)" 2261 2312)
  ("(valence(agent1) down)" 2312 2370)
  ("(valence(agent1) up)" 2370 2371)
  ("(goal(agent1) WanderGoal)" 0 1978)
  ("(goal(agent1) PursueGoal)" 1978 2396)
  ("(state(agent1) wander)" 0 1978)
  ("(state(agent1) charge)" 1978 2078)
  ("(state(agent1) back-away)" 2078 2107)
  ("(state(agent1) charge)" 2107 2180)
  ("(state(agent1) back-away)" 2180 2213)
  ("(state(agent1) charge)" 2213 2285)
  ("(state(agent1) back-away)" 2285 2319)
  ("(state(agent1) charge)" 2319 2394)
  ("(state(agent1) back-away)" 2394 2396)
  ("(x(agent2) 1)" 2002 2049)
  ("(x(agent2) 2)" 2049 2058)
  ("(x(agent2) 3)" 2058 2069)
  ("(x(agent2) 4)" 2069 2113)
  ("(x(agent2) 3)" 2113 2150)
  ("(x(agent2) 4)" 2150 2220)
  ("(x(agent2) 3)" 2220 2255)
  ("(x(agent2) 4)" 2255 2322)
  ("(x(agent2) 3)" 2322 2366)
  ("(x(agent2) 4)" 2366 2371)
  ("(x(agent2) down)" 2003 2089)
  ("(x(agent2) stable)" 2089 2090)
  ("(x(agent2) up)" 2090 2132)
  ("(x(agent2) stable)" 2132 2133)
  ("(x(agent2) down)" 2133 2185)
  ("(x(agent2) stable)" 2185 2187)
  ("(x(agent2) up)" 2187 2238)
  ("(x(agent2) stable)" 2238 2239)
  ("(x(agent2) down)" 2239 2290)
  ("(x(agent2) stable)" 2290 2292)
  ("(x(agent2) up)" 2292 2344)
  ("(x(agent2) stable)" 2344 2346)
  ("(x(agent2) down)" 2346 2371)
  ("(y(agent2) 1)" 2002 2043)
  ("(y(agent2) 2)" 2043 2055)
  ("(y(agent2) 3)" 2055 2066)
  ("(y(agent2) 4)" 2066 2080)
  ("(y(agent2) 5)" 2080 2149)
  ("(y(agent2) 4)" 2149 2170)
  ("(y(agent2) 3)" 2170 2191)
  ("(y(agent2) 2)" 2191 2283)
  ("(y(agent2) 3)" 2283 2314)
  ("(y(agent2) 4)" 2314 2371)
  ("(y(agent2) down)" 2003 2112)
  ("(y(agent2) stable)" 2112 2113)
  ("(y(agent2) up)" 2113 2228)
  ("(y(agent2) stable)" 2228 2233)
  ("(y(agent2) down)" 2233 2352)
  ("(y(agent2) stable)" 2352 2355)
  ("(y(agent2) up)" 2355 2371)
  ("(speed(agent2) 1)" 2002 2080)
  ("(speed(agent2) 2)" 2080 2093)
  ("(speed(agent2) 3)" 2093 2101)
  ("(speed(agent2) 4)" 2101 2129)
  ("(speed(agent2) 5)" 2129 2143)
  ("(speed(agent2) 4)" 2143 2181)
  ("(speed(agent2) 3)" 2181 2196)
  ("(speed(agent2) 4)" 2196 2233)
  ("(speed(agent2) 5)" 2233 2250)
  ("(speed(agent2) 4)" 2250 2280)
  ("(speed(agent2) 3)" 2280 2307)
  ("(speed(agent2) 4)" 2307 2341)
  ("(speed(agent2) 5)" 2341 2356)
  ("(speed(agent2) 4)" 2356 2371)
  ("(speed(agent2) up)" 2003 2034)
  ("(speed(agent2) stable)" 2034 2054)
  ("(speed(agent2) down)" 2054 2137)
  ("(speed(agent2) stable)" 2137 2138)
  ("(speed(agent2) up)" 2138 2191)
  ("(speed(agent2) down)" 2191 2243)
  ("(speed(agent2) up)" 2243 2297)
  ("(speed(agent2) stable)" 2297 2298)
  ("(speed(agent2) down)" 2298 2350)
  ("(speed(agent2) up)" 2350 2371)
  ("(heading(agent2) 1)" 2027 2048)
  ("(heading(agent2) 2)" 2048 2058)
  ("(heading(agent2) 3)" 2058 2065)
  ("(heading(agent2) 4)" 2065 2081)
  ("(heading(agent2) 5)" 2081 2150)
  ("(heading(agent2) 4)" 2150 2158)
  ("(heading(agent2) 3)" 2158 2164)
  ("(heading(agent2) 2)" 2164 2175)
  ("(heading(agent2) 1)" 2175 2257)
  ("(heading(agent2) 2)" 2257 2267)
  ("(heading(agent2) 3)" 2267 2276)
  ("(heading(agent2) 4)" 2276 2329)
  ("(heading(agent2) 5)" 2329 2339)
  ("(heading(agent2) 4)" 2339 2346)
  ("(heading(agent2) stable)" 2028 2030)
  ("(heading(agent2) down)" 2030 2105)
  ("(heading(agent2) stable)" 2105 2135)
  ("(heading(agent2) up)" 2135 2182)
  ("(heading(agent2) stable)" 2182 2197)
  ("(heading(agent2) up)" 2197 2207)
  ("(heading(agent2) stable)" 2207 2218)
  ("(heading(agent2) up)" 2218 2226)
  ("(heading(agent2) stable)" 2226 2238)
  ("(heading(agent2) down)" 2238 2284)
  ("(heading(agent2) stable)" 2284 2299)
  ("(heading(agent2) down)" 2299 2308)
  ("(heading(agent2) stable)" 2308 2323)
  ("(heading(agent2) down)" 2323 2330)
  ("(heading(agent2) stable)" 2330 2339)
  ("(heading(agent2) up)" 2339 2346)
  ("heard(agent1 agent2)" 2354 2396)
  ("heard(agent1 agent2)" 2060 2333)
  ("novel(agent1 agent2)" 2355 2396)
  ("novel(agent1 agent2)" 2061 2143)
  ("novel(agent1 agent2)" 1978 2055)
  ("collision(agent1 agent2)" 2394 2396)
  ("collision(agent1 agent2)" 2285 2288)
  ("collision(agent1 agent2)" 2180 2181)
  ("collision(agent1 agent2)" 2078 2081)
  ("(distance(agent1 agent2) 1)" 2002 2049)
  ("(distance(agent1 agent2) 2)" 2049 2058)
  ("(distance(agent1 agent2) 3)" 2058 2068)
  ("(distance(agent1 agent2) 4)" 2068 2114)
  ("(distance(agent1 agent2) 3)" 2114 2151)
  ("(distance(agent1 agent2) 4)" 2151 2219)
  ("(distance(agent1 agent2) 3)" 2219 2256)
  ("(distance(agent1 agent2) 4)" 2256 2322)
  ("(distance(agent1 agent2) 3)" 2322 2367)
  ("(distance(agent1 agent2) 4)" 2367 2371)
  ("(distance(agent1 agent2) down)" 2003 2088)
  ("(distance(agent1 agent2) stable)" 2088 2089)
  ("(distance(agent1 agent2) up)" 2089 2132)
  ("(distance(agent1 agent2) stable)" 2132 2134)
  ("(distance(agent1 agent2) down)" 2134 2185)
  ("(distance(agent1 agent2) stable)" 2185 2187)
  ("(distance(agent1 agent2) up)" 2187 2238)
  ("(distance(agent1 agent2) stable)" 2238 2239)
  ("(distance(agent1 agent2) down)" 2239 2290)
  ("(distance(agent1 agent2) stable)" 2290 2292)
  ("(distance(agent1 agent2) up)" 2292 2344)
  ("(distance(agent1 agent2) stable)" 2344 2346)
  ("(distance(agent1 agent2) down)" 2346 2371)
  ("(relativeX(agent1 agent2) 5)" 2002 2049)
  ("(relativeX(agent1 agent2) 4)" 2049 2058)
  ("(relativeX(agent1 agent2) 3)" 2058 2068)
  ("(relativeX(agent1 agent2) 2)" 2068 2114)
  ("(relativeX(agent1 agent2) 3)" 2114 2150)
  ("(relativeX(agent1 agent2) 2)" 2150 2219)
  ("(relativeX(agent1 agent2) 3)" 2219 2256)
  ("(relativeX(agent1 agent2) 2)" 2256 2322)
  ("(relativeX(agent1 agent2) 3)" 2322 2367)
  ("(relativeX(agent1 agent2) 2)" 2367 2371)
  ("(relativeX(agent1 agent2) up)" 2003 2088)
  ("(relativeX(agent1 agent2) stable)" 2088 2090)
  ("(relativeX(agent1 agent2) down)" 2090 2132)
  ("(relativeX(agent1 agent2) stable)" 2132 2134)
  ("(relativeX(agent1 agent2) up)" 2134 2185)
  ("(relativeX(agent1 agent2) stable)" 2185 2187)
  ("(relativeX(agent1 agent2) down)" 2187 2238)
  ("(relativeX(agent1 agent2) stable)" 2238 2239)
  ("(relativeX(agent1 agent2) up)" 2239 2290)
  ("(relativeX(agent1 agent2) stable)" 2290 2292)
  ("(relativeX(agent1 agent2) down)" 2292 2344)
  ("(relativeX(agent1 agent2) stable)" 2344 2346)
  ("(relativeX(agent1 agent2) up)" 2346 2371)
  ("(relativeY(agent1 agent2) 5)" 2002 2051)
  ("(relativeY(agent1 agent2) 4)" 2051 2065)
  ("(relativeY(agent1 agent2) 3)" 2065 2076)
  ("(relativeY(agent1 agent2) 2)" 2076 2091)
  ("(relativeY(agent1 agent2) 1)" 2091 2152)
  ("(relativeY(agent1 agent2) 2)" 2152 2172)
  ("(relativeY(agent1 agent2) 3)" 2172 2191)
  ("(relativeY(agent1 agent2) 4)" 2191 2263)
  ("(relativeY(agent1 agent2) 3)" 2263 2297)
  ("(relativeY(agent1 agent2) 2)" 2297 2371)
  ("(relativeY(agent1 agent2) up)" 2003 2118)
  ("(relativeY(agent1 agent2) stable)" 2118 2120)
  ("(relativeY(agent1 agent2) down)" 2120 2221)
  ("(relativeY(agent1 agent2) stable)" 2221 2225)
  ("(relativeY(agent1 agent2) up)" 2225 2342)
  ("(relativeY(agent1 agent2) stable)" 2342 2345)
  ("(relativeY(agent1 agent2) down)" 2345 2371)
  ("(x(wall2) 3)" 320 1027)
  ("(x(wall2) stable)" 321 1027)
  ("(y(wall2) 3)" 320 1027)
  ("(y(wall2) stable)" 321 1027)
  ("(speed(wall2) 3)" 320 1027)
  ("(speed(wall2) stable)" 321 1027)
  ("(heading(wall2) 3)" 345 1002)
  ("(heading(wall2) stable)" 346 1002)
  ("novel(agent1 wall2)" 296 378)
  ("(distance(agent1 wall2) 1)" 320 453)
  ("(distance(agent1 wall2) 2)" 453 498)
  ("(distance(agent1 wall2) 3)" 498 551)
  ("(distance(agent1 wall2) 4)" 551 1027)
  ("(distance(agent1 wall2) down)" 321 629)
  ("(distance(agent1 wall2) stable)" 629 936)
  ("(distance(agent1 wall2) up)" 936 1027)
  ("(relativeX(agent1 wall2) 5)" 320 453)
  ("(relativeX(agent1 wall2) 4)" 453 498)
  ("(relativeX(agent1 wall2) 3)" 498 551)
  ("(relativeX(agent1 wall2) 2)" 551 1027)
  ("(relativeX(agent1 wall2) up)" 321 629)
  ("(relativeX(agent1 wall2) stable)" 629 936)
  ("(relativeX(agent1 wall2) down)" 936 1027)
  ("(relativeY(agent1 wall2) 1)" 320 465)
  ("(relativeY(agent1 wall2) 2)" 465 517)
  ("(relativeY(agent1 wall2) 3)" 517 548)
  ("(relativeY(agent1 wall2) 4)" 548 585)
  ("(relativeY(agent1 wall2) 5)" 585 664)
  ("(relativeY(agent1 wall2) 4)" 664 959)
  ("(relativeY(agent1 wall2) 3)" 959 990)
  ("(relativeY(agent1 wall2) 2)" 990 1021)
  ("(relativeY(agent1 wall2) 1)" 1021 1027)
  ("(relativeY(agent1 wall2) down)" 321 618)
  ("(relativeY(agent1 wall2) stable)" 618 624)
  ("(relativeY(agent1 wall2) up)" 624 704)
  ("(relativeY(agent1 wall2) stable)" 704 718)
  ("(relativeY(agent1 wall2) down)" 718 738)
  ("(relativeY(agent1 wall2) stable)" 738 898)
  ("(relativeY(agent1 wall2) up)" 898 1027)
  ("(x(wall3) 3)" 398 414)
  ("(x(wall3) 3)" 486 728)
  ("(x(wall3) 3)" 1629 2371)
  ("(x(wall3) stable)" 399 414)
  ("(x(wall3) stable)" 487 728)
  ("(x(wall3) stable)" 1630 2371)
  ("(y(wall3) 3)" 398 414)
  ("(y(wall3) 3)" 486 728)
  ("(y(wall3) 3)" 1629 2371)
  ("(y(wall3) stable)" 399 414)
  ("(y(wall3) stable)" 487 728)
  ("(y(wall3) stable)" 1630 2371)
  ("(speed(wall3) 3)" 398 414)
  ("(speed(wall3) 3)" 486 728)
  ("(speed(wall3) 3)" 1629 2371)
  ("(speed(wall3) stable)" 399 414)
  ("(speed(wall3) stable)" 487 728)
  ("(speed(wall3) stable)" 1630 2371)
  ("(heading(wall3) 3)" 511 703)
  ("(heading(wall3) 3)" 1654 2346)
  ("(heading(wall3) stable)" 512 703)
  ("(heading(wall3) stable)" 1655 2346)
  ("novel(agent1 wall3)" 1605 1685)
  ("novel(agent1 wall3)" 462 542)
  ("novel(agent1 wall3)" 374 455)
  ("collision(agent1 wall3)" 1990 2001)
  ("(distance(agent1 wall3) 1)" 398 414)
  ("(distance(agent1 wall3) 1)" 486 561)
  ("(distance(agent1 wall3) 2)" 561 728)
  ("(distance(agent1 wall3) 1)" 1629 1723)
  ("(distance(agent1 wall3) 2)" 1723 1775)
  ("(distance(agent1 wall3) 3)" 1775 1858)
  ("(distance(agent1 wall3) 4)" 1858 1960)
  ("(distance(agent1 wall3) 5)" 1960 2371)
  ("(distance(agent1 wall3) down)" 399 414)
  ("(distance(agent1 wall3) down)" 487 617)
  ("(distance(agent1 wall3) stable)" 617 625)
  ("(distance(agent1 wall3) up)" 625 704)
  ("(distance(agent1 wall3) stable)" 704 720)
  ("(distance(agent1 wall3) down)" 720 728)
  ("(distance(agent1 wall3) down)" 1630 1996)
  ("(distance(agent1 wall3) stable)" 1996 2371)
  ("(relativeX(agent1 wall3) 1)" 398 414)
  ("(relativeX(agent1 wall3) 1)" 486 728)
  ("(relativeX(agent1 wall3) 5)" 1629 1902)
  ("(relativeX(agent1 wall3) 4)" 1902 2014)
  ("(relativeX(agent1 wall3) 3)" 2014 2371)
  ("(relativeX(agent1 wall3) up)" 399 414)
  ("(relativeX(agent1 wall3) up)" 487 601)
  ("(relativeX(agent1 wall3) stable)" 601 728)
  ("(relativeX(agent1 wall3) down)" 1630 1704)
  ("(relativeX(agent1 wall3) stable)" 1704 1760)
  ("(relativeX(agent1 wall3) up)" 1760 2083)
  ("(relativeX(agent1 wall3) stable)" 2083 2096)
  ("(relativeX(agent1 wall3) down)" 2096 2123)
  ("(relativeX(agent1 wall3) stable)" 2123 2143)
  ("(relativeX(agent1 wall3) up)" 2143 2175)
  ("(relativeX(agent1 wall3) stable)" 2175 2195)
  ("(relativeX(agent1 wall3) down)" 2195 2228)
  ("(relativeX(agent1 wall3) stable)" 2228 2248)
  ("(relativeX(agent1 wall3) up)" 2248 2281)
  ("(relativeX(agent1 wall3) stable)" 2281 2300)
  ("(relativeX(agent1 wall3) down)" 2300 2335)
  ("(relativeX(agent1 wall3) stable)" 2335 2355)
  ("(relativeX(agent1 wall3) up)" 2355 2371)
  ("(relativeY(agent1 wall3) 1)" 398 414)
  ("(relativeY(agent1 wall3) 1)" 486 561)
  ("(relativeY(agent1 wall3) 2)" 561 728)
  ("(relativeY(agent1 wall3) 1)" 1629 1723)
  ("(relativeY(agent1 wall3) 2)" 1723 1775)
  ("(relativeY(agent1 wall3) 3)" 1775 1858)
  ("(relativeY(agent1 wall3) 4)" 1858 1960)
  ("(relativeY(agent1 wall3) 5)" 1960 2371)
  ("(relativeY(agent1 wall3) down)" 399 414)
  ("(relativeY(agent1 wall3) down)" 487 617)
  ("(relativeY(agent1 wall3) stable)" 617 625)
  ("(relativeY(agent1 wall3) up)" 625 704)
  ("(relativeY(agent1 wall3) stable)" 704 720)
  ("(relativeY(agent1 wall3) down)" 720 728)
  ("(relativeY(agent1 wall3) down)" 1630 1996)
  ("(relativeY(agent1 wall3) stable)" 1996 2371)
 ))
(11
 (
  ("(x(agent1) 5)" 25 277)
  ("(x(agent1) 4)" 277 323)
  ("(x(agent1) 3)" 323 369)
  ("(x(agent1) 2)" 369 438)
  ("(x(agent1) 1)" 438 561)
  ("(x(agent1) 2)" 561 1289)
  ("(x(agent1) 3)" 1289 1318)
  ("(x(agent1) 2)" 1318 1382)
  ("(x(agent1) 3)" 1382 1435)
  ("(x(agent1) 2)" 1435 1476)
  ("(x(agent1) 3)" 1476 1537)
  ("(x(agent1) 2)" 1537 1562)
  ("(x(agent1) 3)" 1562 1650)
  ("(x(agent1) 2)" 1650 1673)
  ("(x(agent1) 3)" 1673 1760)
  ("(x(agent1) 2)" 1760 1779)
  ("(x(agent1) 3)" 1779 1863)
  ("(x(agent1) 2)" 1863 1875)
  ("(x(agent1) 3)" 1875 2381)
  ("(x(agent1) up)" 26 487)
  ("(x(agent1) stable)" 487 499)
  ("(x(agent1) down)" 499 609)
  ("(x(agent1) stable)" 609 617)
  ("(x(agent1) up)" 617 636)
  ("(x(agent1) stable)" 636 648)
  ("(x(agent1) down)" 648 697)
  ("(x(agent1) stable)" 697 705)
  ("(x(agent1) up)" 705 743)
  ("(x(agent1) stable)" 743 752)
  ("(x(agent1) down)" 752 796)
  ("(x(agent1) stable)" 796 804)
  ("(x(agent1) up)" 804 847)
  ("(x(agent1) stable)" 847 855)
  ("(x(agent1) down)" 855 902)
  ("(x(agent1) stable)" 902 910)
  ("(x(agent1) up)" 910 956)
  ("(x(agent1) stable)" 956 964)
  ("(x(agent1) down)" 964 1006)
  ("(x(agent1) stable)" 1006 1014)
  ("(x(agent1) up)" 1014 1050)
  ("(x(agent1) stable)" 1050 1058)
  ("(x(agent1) down)" 1058 1104)
  ("(x(agent1) stable)" 1104 1112)
  ("(x(agent1) up)" 1112 1148)
  ("(x(agent1) stable)" 1148 1156)
  ("(x(agent1) down)" 1156 1200)
  ("(x(agent1) stable)" 1200 1208)
  ("(x(agent1) up)" 1208 1240)
  ("(x(agent1) stable)" 1240 1249)
  ("(x(agent1) down)" 1249 1300)
  ("(x(agent1) stable)" 1300 1308)
  ("(x(agent1) up)" 1308 1349)
  ("(x(agent1) stable)" 1349 1357)
  ("(x(agent1) down)" 1357 1405)
  ("(x(agent1) stable)" 1405 1413)
  ("(x(agent1) up)" 1413 1453)
  ("(x(agent1) stable)" 1453 1460)
  ("(x(agent1) down)" 1460 1503)
  ("(x(agent1) stable)" 1503 1509)
  ("(x(agent1) up)" 1509 1547)
  ("(x(agent1) stable)" 1547 1554)
  ("(x(agent1) down)" 1554 1604)
  ("(x(agent1) stable)" 1604 1610)
  ("(x(agent1) up)" 1610 1659)
  ("(x(agent1) stable)" 1659 1665)
  ("(x(agent1) down)" 1665 1713)
  ("(x(agent1) stable)" 1713 1719)
  ("(x(agent1) up)" 1719 1767)
  ("(x(agent1) stable)" 1767 1773)
  ("(x(agent1) down)" 1773 1817)
  ("(x(agent1) stable)" 1817 1823)
  ("(x(agent1) up)" 1823 1866)
  ("(x(agent1) stable)" 1866 1873)
  ("(x(agent1) down)" 1873 1920)
  ("(x(agent1) stable)" 1920 1926)
  ("(x(agent1) up)" 1926 1973)
  ("(x(agent1) stable)" 1973 1979)
  ("(x(agent1) down)" 1979 2028)
  ("(x(agent1) stable)" 2028 2034)
  ("(x(agent1) up)" 2034 2080)
  ("(x(agent1) stable)" 2080 2086)
  ("(x(agent1) down)" 2086 2131)
  ("(x(agent1) stable)" 2131 2137)
  ("(x(agent1) up)" 2137 2174)
  ("(x(agent1) stable)" 2174 2181)
  ("(x(agent1) down)" 2181 2230)
  ("(x(agent1) stable)" 2230 2236)
  ("(x(agent1) up)" 2236 2278)
  ("(x(agent1) stable)" 2278 2284)
  ("(x(agent1) down)" 2284 2336)
  ("(x(agent1) stable)" 2336 2342)
  ("(x(agent1) up)" 2342 2381)
  ("(y(agent1) 5)" 25 377)
  ("(y(agent1) 4)" 377 414)
  ("(y(agent1) 3)" 414 446)
  ("(y(agent1) 2)" 446 639)
  ("(y(agent1) 3)" 639 682)
  ("(y(agent1) 2)" 682 708)
  ("(y(agent1) 3)" 708 787)
  ("(y(agent1) 2)" 787 811)
  ("(y(agent1) 3)" 811 890)
  ("(y(agent1) 2)" 890 920)
  ("(y(agent1) 3)" 920 1005)
  ("(y(agent1) 2)" 1005 1015)
  ("(y(agent1) 3)" 1015 1083)
  ("(y(agent1) 2)" 1083 1134)
  ("(y(agent1) 3)" 1134 1167)
  ("(y(agent1) 2)" 1167 2381)
  ("(y(agent1) down)" 26 125)
  ("(y(agent1) stable)" 125 157)
  ("(y(agent1) up)" 157 498)
  ("(y(agent1) stable)" 498 506)
  ("(y(agent1) down)" 506 565)
  ("(y(agent1) stable)" 565 578)
  ("(y(agent1) up)" 578 579)
  ("(y(agent1) stable)" 579 591)
  ("(y(agent1) down)" 591 653)
  ("(y(agent1) stable)" 653 664)
  ("(y(agent1) up)" 664 689)
  ("(y(agent1) stable)" 689 703)
  ("(y(agent1) down)" 703 742)
  ("(y(agent1) stable)" 742 754)
  ("(y(agent1) up)" 754 794)
  ("(y(agent1) stable)" 794 805)
  ("(y(agent1) down)" 805 846)
  ("(y(agent1) stable)" 846 857)
  ("(y(agent1) up)" 857 900)
  ("(y(agent1) stable)" 900 911)
  ("(y(agent1) down)" 911 954)
  ("(y(agent1) stable)" 954 965)
  ("(y(agent1) up)" 965 1004)
  ("(y(agent1) stable)" 1004 1016)
  ("(y(agent1) down)" 1016 1048)
  ("(y(agent1) stable)" 1048 1060)
  ("(y(agent1) up)" 1060 1103)
  ("(y(agent1) stable)" 1103 1114)
  ("(y(agent1) down)" 1114 1145)
  ("(y(agent1) stable)" 1145 1157)
  ("(y(agent1) up)" 1157 1198)
  ("(y(agent1) stable)" 1198 1210)
  ("(y(agent1) down)" 1210 1237)
  ("(y(agent1) stable)" 1237 1251)
  ("(y(agent1) up)" 1251 1300)
  ("(y(agent1) stable)" 1300 1311)
  ("(y(agent1) down)" 1311 1346)
  ("(y(agent1) stable)" 1346 1358)
  ("(y(agent1) up)" 1358 1405)
  ("(y(agent1) stable)" 1405 1416)
  ("(y(agent1) down)" 1416 1449)
  ("(y(agent1) stable)" 1449 1461)
  ("(y(agent1) up)" 1461 1503)
  ("(y(agent1) stable)" 1503 1514)
  ("(y(agent1) down)" 1514 1543)
  ("(y(agent1) stable)" 1543 1555)
  ("(y(agent1) up)" 1555 1603)
  ("(y(agent1) stable)" 1603 1613)
  ("(y(agent1) down)" 1613 1656)
  ("(y(agent1) stable)" 1656 1665)
  ("(y(agent1) up)" 1665 1711)
  ("(y(agent1) stable)" 1711 1720)
  ("(y(agent1) down)" 1720 1766)
  ("(y(agent1) stable)" 1766 1775)
  ("(y(agent1) up)" 1775 1814)
  ("(y(agent1) stable)" 1814 1823)
  ("(y(agent1) down)" 1823 1865)
  ("(y(agent1) stable)" 1865 1874)
  ("(y(agent1) up)" 1874 1918)
  ("(y(agent1) stable)" 1918 1927)
  ("(y(agent1) down)" 1927 1972)
  ("(y(agent1) stable)" 1972 1981)
  ("(y(agent1) up)" 1981 2027)
  ("(y(agent1) stable)" 2027 2036)
  ("(y(agent1) down)" 2036 2077)
  ("(y(agent1) stable)" 2077 2087)
  ("(y(agent1) up)" 2087 2130)
  ("(y(agent1) stable)" 2130 2139)
  ("(y(agent1) down)" 2139 2172)
  ("(y(agent1) stable)" 2172 2182)
  ("(y(agent1) up)" 2182 2230)
  ("(y(agent1) stable)" 2230 2240)
  ("(y(agent1) down)" 2240 2274)
  ("(y(agent1) stable)" 2274 2285)
  ("(y(agent1) up)" 2285 2335)
  ("(y(agent1) stable)" 2335 2344)
  ("(y(agent1) down)" 2344 2381)
  ("(speed(agent1) 4)" 25 32)
  ("(speed(agent1) 3)" 32 42)
  ("(speed(agent1) 2)" 42 59)
  ("(speed(agent1) 1)" 59 460)
  ("(speed(agent1) 2)" 460 469)
  ("(speed(agent1) 3)" 469 476)
  ("(speed(agent1) 4)" 476 487)
  ("(speed(agent1) 5)" 487 518)
  ("(speed(agent1) 4)" 518 536)
  ("(speed(agent1) 3)" 536 577)
  ("(speed(agent1) 4)" 577 681)
  ("(speed(agent1) 5)" 681 716)
  ("(speed(agent1) 4)" 716 781)
  ("(speed(agent1) 5)" 781 816)
  ("(speed(agent1) 4)" 816 890)
  ("(speed(agent1) 5)" 890 922)
  ("(speed(agent1) 4)" 922 989)
  ("(speed(agent1) 5)" 989 1026)
  ("(speed(agent1) 4)" 1026 1055)
  ("(speed(agent1) 3)" 1055 1070)
  ("(speed(agent1) 4)" 1070 1094)
  ("(speed(agent1) 5)" 1094 1124)
  ("(speed(agent1) 4)" 1124 1151)
  ("(speed(agent1) 3)" 1151 1166)
  ("(speed(agent1) 4)" 1166 1188)
  ("(speed(agent1) 5)" 1188 1225)
  ("(speed(agent1) 4)" 1225 1248)
  ("(speed(agent1) 3)" 1248 1267)
  ("(speed(agent1) 4)" 1267 1293)
  ("(speed(agent1) 5)" 1293 1320)
  ("(speed(agent1) 4)" 1320 1345)
  ("(speed(agent1) 3)" 1345 1373)
  ("(speed(agent1) 4)" 1373 1398)
  ("(speed(agent1) 5)" 1398 1425)
  ("(speed(agent1) 4)" 1425 1450)
  ("(speed(agent1) 3)" 1450 1474)
  ("(speed(agent1) 4)" 1474 1540)
  ("(speed(agent1) 3)" 1540 1581)
  ("(speed(agent1) 4)" 1581 1628)
  ("(speed(agent1) 3)" 1628 1664)
  ("(speed(agent1) 2)" 1664 1670)
  ("(speed(agent1) 3)" 1670 1689)
  ("(speed(agent1) 4)" 1689 1736)
  ("(speed(agent1) 3)" 1736 1788)
  ("(speed(agent1) 4)" 1788 1844)
  ("(speed(agent1) 3)" 1844 1872)
  ("(speed(agent1) 2)" 1872 1880)
  ("(speed(agent1) 3)" 1880 1896)
  ("(speed(agent1) 4)" 1896 1943)
  ("(speed(agent1) 3)" 1943 1971)
  ("(speed(agent1) 2)" 1971 1990)
  ("(speed(agent1) 3)" 1990 2008)
  ("(speed(agent1) 4)" 2008 2052)
  ("(speed(agent1) 3)" 2052 2073)
  ("(speed(agent1) 2)" 2073 2096)
  ("(speed(agent1) 3)" 2096 2107)
  ("(speed(agent1) 4)" 2107 2161)
  ("(speed(agent1) 3)" 2161 2180)
  ("(speed(agent1) 2)" 2180 2194)
  ("(speed(agent1) 3)" 2194 2211)
  ("(speed(agent1) 4)" 2211 2257)
  ("(speed(agent1) 3)" 2257 2278)
  ("(speed(agent1) 2)" 2278 2301)
  ("(speed(agent1) 3)" 2301 2319)
  ("(speed(agent1) 4)" 2319 2360)
  ("(speed(agent1) 3)" 2360 2380)
  ("(speed(agent1) 4)" 2380 2381)
  ("(speed(agent1) up)" 26 217)
  ("(speed(agent1) stable)" 217 399)
  ("(speed(agent1) down)" 399 502)
  ("(speed(agent1) stable)" 502 503)
  ("(speed(agent1) up)" 503 562)
  ("(speed(agent1) down)" 562 612)
  ("(speed(agent1) stable)" 612 613)
  ("(speed(agent1) up)" 613 620)
  ("(speed(agent1) down)" 620 625)
  ("(speed(agent1) stable)" 625 626)
  ("(speed(agent1) up)" 626 655)
  ("(speed(agent1) stable)" 655 656)
  ("(speed(agent1) down)" 656 704)
  ("(speed(agent1) stable)" 704 705)
  ("(speed(agent1) up)" 705 754)
  ("(speed(agent1) stable)" 754 755)
  ("(speed(agent1) down)" 755 805)
  ("(speed(agent1) up)" 805 858)
  ("(speed(agent1) stable)" 858 859)
  ("(speed(agent1) down)" 859 910)
  ("(speed(agent1) stable)" 910 911)
  ("(speed(agent1) up)" 911 963)
  ("(speed(agent1) down)" 963 1014)
  ("(speed(agent1) stable)" 1014 1015)
  ("(speed(agent1) up)" 1015 1063)
  ("(speed(agent1) down)" 1063 1113)
  ("(speed(agent1) up)" 1113 1159)
  ("(speed(agent1) down)" 1159 1208)
  ("(speed(agent1) stable)" 1208 1209)
  ("(speed(agent1) up)" 1209 1258)
  ("(speed(agent1) stable)" 1258 1259)
  ("(speed(agent1) down)" 1259 1309)
  ("(speed(agent1) up)" 1309 1362)
  ("(speed(agent1) down)" 1362 1414)
  ("(speed(agent1) up)" 1414 1464)
  ("(speed(agent1) down)" 1464 1511)
  ("(speed(agent1) stable)" 1511 1512)
  ("(speed(agent1) up)" 1512 1521)
  ("(speed(agent1) down)" 1521 1524)
  ("(speed(agent1) up)" 1524 1561)
  ("(speed(agent1) down)" 1561 1572)
  ("(speed(agent1) up)" 1572 1574)
  ("(speed(agent1) down)" 1574 1611)
  ("(speed(agent1) stable)" 1611 1612)
  ("(speed(agent1) up)" 1612 1668)
  ("(speed(agent1) down)" 1668 1720)
  ("(speed(agent1) stable)" 1720 1721)
  ("(speed(agent1) up)" 1721 1773)
  ("(speed(agent1) down)" 1773 1824)
  ("(speed(agent1) stable)" 1824 1825)
  ("(speed(agent1) up)" 1825 1876)
  ("(speed(agent1) down)" 1876 1927)
  ("(speed(agent1) stable)" 1927 1928)
  ("(speed(agent1) up)" 1928 1983)
  ("(speed(agent1) stable)" 1983 1984)
  ("(speed(agent1) down)" 1984 2036)
  ("(speed(agent1) up)" 2036 2087)
  ("(speed(agent1) stable)" 2087 2088)
  ("(speed(agent1) down)" 2088 2138)
  ("(speed(agent1) stable)" 2138 2139)
  ("(speed(agent1) up)" 2139 2188)
  ("(speed(agent1) down)" 2188 2238)
  ("(speed(agent1) up)" 2238 2292)
  ("(speed(agent1) down)" 2292 2344)
  ("(speed(agent1) up)" 2344 2365)
  ("(speed(agent1) down)" 2365 2381)
  ("(heading(agent1) 2)" 50 101)
  ("(heading(agent1) 5)" 101 600)
  ("(heading(agent1) 2)" 600 2356)
  ("(heading(agent1) up)" 51 384)
  ("(heading(agent1) stable)" 384 393)
  ("(heading(agent1) down)" 393 681)
  ("(heading(agent1) stable)" 681 2356)
  ("(energy(agent1) 1)" 25 660)
  ("(energy(agent1) 2)" 660 1144)
  ("(energy(agent1) 3)" 1144 1477)
  ("(energy(agent1) 4)" 1477 1785)
  ("(energy(agent1) 5)" 1785 2381)
  ("(energy(agent1) stable)" 26 529)
  ("(energy(agent1) down)" 529 580)
  ("(energy(agent1) stable)" 580 621)
  ("(energy(agent1) down)" 621 672)
  ("(energy(agent1) stable)" 672 719)
  ("(energy(agent1) down)" 719 770)
  ("(energy(agent1) stable)" 770 822)
  ("(energy(agent1) down)" 822 873)
  ("(energy(agent1) stable)" 873 930)
  ("(energy(agent1) down)" 930 981)
  ("(energy(agent1) stable)" 981 1028)
  ("(energy(agent1) down)" 1028 1079)
  ("(energy(agent1) stable)" 1079 1126)
  ("(energy(agent1) down)" 1126 1177)
  ("(energy(agent1) stable)" 1177 1219)
  ("(energy(agent1) down)" 1219 1270)
  ("(energy(agent1) stable)" 1270 1326)
  ("(energy(agent1) down)" 1326 1377)
  ("(energy(agent1) stable)" 1377 1430)
  ("(energy(agent1) down)" 1430 1481)
  ("(energy(agent1) stable)" 1481 1522)
  ("(energy(agent1) down)" 1522 1573)
  ("(energy(agent1) stable)" 1573 1632)
  ("(energy(agent1) down)" 1632 1683)
  ("(energy(agent1) stable)" 1683 1740)
  ("(energy(agent1) down)" 1740 1791)
  ("(energy(agent1) stable)" 1791 1841)
  ("(energy(agent1) down)" 1841 1892)
  ("(energy(agent1) stable)" 1892 1947)
  ("(energy(agent1) down)" 1947 1998)
  ("(energy(agent1) stable)" 1998 2055)
  ("(energy(agent1) down)" 2055 2106)
  ("(energy(agent1) stable)" 2106 2151)
  ("(energy(agent1) down)" 2151 2202)
  ("(energy(agent1) stable)" 2202 2254)
  ("(energy(agent1) down)" 2254 2305)
  ("(energy(agent1) stable)" 2305 2365)
  ("(energy(agent1) down)" 2365 2381)
  ("(arousal(agent1) 5)" 25 567)
  ("(arousal(agent1) 4)" 567 639)
  ("(arousal(agent1) 3)" 639 741)
  ("(arousal(agent1) 2)" 741 2381)
  ("(arousal(agent1) down)" 26 219)
  ("(arousal(agent1) stable)" 219 229)
  ("(arousal(agent1) up)" 229 335)
  ("(arousal(agent1) stable)" 335 345)
  ("(arousal(agent1) down)" 345 508)
  ("(arousal(agent1) stable)" 508 522)
  ("(arousal(agent1) up)" 522 604)
  ("(arousal(agent1) stable)" 604 618)
  ("(arousal(agent1) down)" 618 620)
  ("(arousal(agent1) up)" 620 671)
  ("(arousal(agent1) down)" 671 718)
  ("(arousal(agent1) up)" 718 769)
  ("(arousal(agent1) down)" 769 821)
  ("(arousal(agent1) up)" 821 872)
  ("(arousal(agent1) down)" 872 929)
  ("(arousal(agent1) up)" 929 980)
  ("(arousal(agent1) down)" 980 1027)
  ("(arousal(agent1) up)" 1027 1078)
  ("(arousal(agent1) down)" 1078 1125)
  ("(arousal(agent1) up)" 1125 1176)
  ("(arousal(agent1) down)" 1176 1218)
  ("(arousal(agent1) up)" 1218 1269)
  ("(arousal(agent1) down)" 1269 1325)
  ("(arousal(agent1) up)" 1325 1376)
  ("(arousal(agent1) down)" 1376 1429)
  ("(arousal(agent1) up)" 1429 1480)
  ("(arousal(agent1) down)" 1480 1521)
  ("(arousal(agent1) up)" 1521 1572)
  ("(arousal(agent1) down)" 1572 1606)
  ("(arousal(agent1) stable)" 1606 1622)
  ("(arousal(agent1) up)" 1622 1675)
  ("(arousal(agent1) stable)" 1675 1698)
  ("(arousal(agent1) down)" 1698 1706)
  ("(arousal(agent1) stable)" 1706 1749)
  ("(arousal(agent1) up)" 1749 1757)
  ("(arousal(agent1) stable)" 1757 1805)
  ("(arousal(agent1) down)" 1805 1840)
  ("(arousal(agent1) stable)" 1840 1891)
  ("(arousal(agent1) down)" 1891 1919)
  ("(arousal(agent1) stable)" 1919 1935)
  ("(arousal(agent1) up)" 1935 1984)
  ("(arousal(agent1) stable)" 1984 2012)
  ("(arousal(agent1) down)" 2012 2031)
  ("(arousal(agent1) stable)" 2031 2061)
  ("(arousal(agent1) up)" 2061 2082)
  ("(arousal(agent1) stable)" 2082 2381)
  ("(valence(agent1) 5)" 25 570)
  ("(valence(agent1) 4)" 570 647)
  ("(valence(agent1) 3)" 647 732)
  ("(valence(agent1) 2)" 732 2381)
  ("(valence(agent1) stable)" 26 528)
  ("(valence(agent1) up)" 528 579)
  ("(valence(agent1) down)" 579 620)
  ("(valence(agent1) up)" 620 671)
  ("(valence(agent1) down)" 671 718)
  ("(valence(agent1) up)" 718 769)
  ("(valence(agent1) down)" 769 821)
  ("(valence(agent1) up)" 821 872)
  ("(valence(agent1) down)" 872 929)
  ("(valence(agent1) up)" 929 980)
  ("(valence(agent1) down)" 980 1027)
  ("(valence(agent1) up)" 1027 1078)
  ("(valence(agent1) down)" 1078 1125)
  ("(valence(agent1) up)" 1125 1176)
  ("(valence(agent1) down)" 1176 1218)
  ("(valence(agent1) up)" 1218 1269)
  ("(valence(agent1) down)" 1269 1325)
  ("(valence(agent1) up)" 1325 1376)
  ("(valence(agent1) down)" 1376 1429)
  ("(valence(agent1) up)" 1429 1480)
  ("(valence(agent1) down)" 1480 1521)
  ("(valence(agent1) up)" 1521 1572)
  ("(valence(agent1) down)" 1572 1631)
  ("(valence(agent1) up)" 1631 1682)
  ("(valence(agent1) down)" 1682 1739)
  ("(valence(agent1) up)" 1739 1790)
  ("(valence(agent1) down)" 1790 1840)
  ("(valence(agent1) up)" 1840 1891)
  ("(valence(agent1) down)" 1891 1946)
  ("(valence(agent1) up)" 1946 1997)
  ("(valence(agent1) down)" 1997 2054)
  ("(valence(agent1) up)" 2054 2105)
  ("(valence(agent1) down)" 2105 2150)
  ("(valence(agent1) up)" 2150 2201)
  ("(valence(agent1) down)" 2201 2253)
  ("(valence(agent1) up)" 2253 2304)
  ("(valence(agent1) down)" 2304 2364)
  ("(valence(agent1) up)" 2364 2381)
  ("(goal(agent1) WanderGoal)" 0 523)
  ("(goal(agent1) PursueGoal)" 523 2391)
  ("(goal(agent1) WanderGoal)" 2391 2406)
  ("(state(agent1) wander)" 0 523)
  ("(state(agent1) charge)" 523 552)
  ("(state(agent1) back-away)" 552 582)
  ("(state(agent1) charge)" 582 645)
  ("(state(agent1) back-away)" 645 675)
  ("(state(agent1) charge)" 675 743)
  ("(state(agent1) back-away)" 743 775)
  ("(state(agent1) charge)" 775 846)
  ("(state(agent1) back-away)" 846 880)
  ("(state(agent1) charge)" 880 954)
  ("(state(agent1) back-away)" 954 985)
  ("(state(agent1) charge)" 985 1052)
  ("(state(agent1) back-away)" 1052 1082)
  ("(state(agent1) charge)" 1082 1150)
  ("(state(agent1) back-away)" 1150 1178)
  ("(state(agent1) charge)" 1178 1243)
  ("(state(agent1) back-away)" 1243 1277)
  ("(state(agent1) charge)" 1277 1350)
  ("(state(agent1) back-away)" 1350 1382)
  ("(state(agent1) charge)" 1382 1454)
  ("(state(agent1) back-away)" 1454 1483)
  ("(state(agent1) charge)" 1483 1546)
  ("(state(agent1) back-away)" 1546 1581)
  ("(state(agent1) charge)" 1581 1656)
  ("(state(agent1) back-away)" 1656 1690)
  ("(state(agent1) charge)" 1690 1764)
  ("(state(agent1) back-away)" 1764 1795)
  ("(state(agent1) charge)" 1795 1864)
  ("(state(agent1) back-away)" 1864 1897)
  ("(state(agent1) charge)" 1897 1971)
  ("(state(agent1) back-away)" 1971 2005)
  ("(state(agent1) charge)" 2005 2079)
  ("(state(agent1) back-away)" 2079 2108)
  ("(state(agent1) charge)" 2108 2175)
  ("(state(agent1) back-away)" 2175 2207)
  ("(state(agent1) charge)" 2207 2278)
  ("(state(agent1) back-away)" 2278 2312)
  ("(state(agent1) charge)" 2312 2389)
  ("(state(agent1) back-away)" 2389 2391)
  ("(state(agent1) wander)" 2391 2406)
  ("(x(agent2) 1)" 613 738)
  ("(x(agent2) 2)" 738 758)
  ("(x(agent2) 1)" 758 840)
  ("(x(agent2) 2)" 840 861)
  ("(x(agent2) 1)" 861 948)
  ("(x(agent2) 2)" 948 970)
  ("(x(agent2) 1)" 970 1040)
  ("(x(agent2) 2)" 1040 1077)
  ("(x(agent2) 1)" 1077 1128)
  ("(x(agent2) 2)" 1128 1147)
  ("(x(agent2) 3)" 1147 1168)
  ("(x(agent2) 2)" 1168 1225)
  ("(x(agent2) 3)" 1225 1272)
  ("(x(agent2) 2)" 1272 1293)
  ("(x(agent2) 1)" 1293 1308)
  ("(x(agent2) 2)" 1308 1326)
  ("(x(agent2) 3)" 1326 1339)
  ("(x(agent2) 4)" 1339 1376)
  ("(x(agent2) 3)" 1376 1393)
  ("(x(agent2) 2)" 1393 1417)
  ("(x(agent2) 3)" 1417 1431)
  ("(x(agent2) 4)" 1431 1448)
  ("(x(agent2) 5)" 1448 1475)
  ("(x(agent2) 4)" 1475 1501)
  ("(x(agent2) 3)" 1501 1509)
  ("(x(agent2) 4)" 1509 1533)
  ("(x(agent2) 5)" 1533 1565)
  ("(x(agent2) 4)" 1565 1580)
  ("(x(agent2) 3)" 1580 1595)
  ("(x(agent2) 2)" 1595 1617)
  ("(x(agent2) 3)" 1617 1631)
  ("(x(agent2) 4)" 1631 1647)
  ("(x(agent2) 5)" 1647 1676)
  ("(x(agent2) 4)" 1676 1691)
  ("(x(agent2) 3)" 1691 1711)
  ("(x(agent2) 2)" 1711 1720)
  ("(x(agent2) 3)" 1720 1738)
  ("(x(agent2) 4)" 1738 1754)
  ("(x(agent2) 5)" 1754 1785)
  ("(x(agent2) 4)" 1785 1803)
  ("(x(agent2) 3)" 1803 1834)
  ("(x(agent2) 4)" 1834 1851)
  ("(x(agent2) 5)" 1851 1886)
  ("(x(agent2) 4)" 1886 1901)
  ("(x(agent2) 3)" 1901 1942)
  ("(x(agent2) 4)" 1942 1957)
  ("(x(agent2) 5)" 1957 1993)
  ("(x(agent2) 4)" 1993 2006)
  ("(x(agent2) 3)" 2006 2021)
  ("(x(agent2) 2)" 2021 2038)
  ("(x(agent2) 3)" 2038 2052)
  ("(x(agent2) 4)" 2052 2063)
  ("(x(agent2) 5)" 2063 2111)
  ("(x(agent2) 4)" 2111 2148)
  ("(x(agent2) 5)" 2148 2215)
  ("(x(agent2) 4)" 2215 2245)
  ("(x(agent2) 5)" 2245 2329)
  ("(x(agent2) 4)" 2329 2342)
  ("(x(agent2) 5)" 2342 2381)
  ("(x(agent2) down)" 614 652)
  ("(x(agent2) stable)" 652 653)
  ("(x(agent2) up)" 653 697)
  ("(x(agent2) stable)" 697 698)
  ("(x(agent2) down)" 698 748)
  ("(x(agent2) stable)" 748 749)
  ("(x(agent2) up)" 749 799)
  ("(x(agent2) stable)" 799 801)
  ("(x(agent2) down)" 801 851)
  ("(x(agent2) stable)" 851 852)
  ("(x(agent2) up)" 852 905)
  ("(x(agent2) stable)" 905 906)
  ("(x(agent2) down)" 906 959)
  ("(x(agent2) stable)" 959 960)
  ("(x(agent2) up)" 960 1008)
  ("(x(agent2) stable)" 1008 1009)
  ("(x(agent2) down)" 1009 1058)
  ("(x(agent2) stable)" 1058 1059)
  ("(x(agent2) up)" 1059 1104)
  ("(x(agent2) stable)" 1104 1105)
  ("(x(agent2) down)" 1105 1157)
  ("(x(agent2) stable)" 1157 1159)
  ("(x(agent2) up)" 1159 1199)
  ("(x(agent2) stable)" 1199 1200)
  ("(x(agent2) down)" 1200 1250)
  ("(x(agent2) stable)" 1250 1251)
  ("(x(agent2) up)" 1251 1301)
  ("(x(agent2) stable)" 1301 1302)
  ("(x(agent2) down)" 1302 1358)
  ("(x(agent2) up)" 1358 1405)
  ("(x(agent2) stable)" 1405 1406)
  ("(x(agent2) down)" 1406 1461)
  ("(x(agent2) stable)" 1461 1462)
  ("(x(agent2) up)" 1462 1505)
  ("(x(agent2) stable)" 1505 1506)
  ("(x(agent2) down)" 1506 1550)
  ("(x(agent2) stable)" 1550 1551)
  ("(x(agent2) up)" 1551 1606)
  ("(x(agent2) stable)" 1606 1607)
  ("(x(agent2) down)" 1607 1662)
  ("(x(agent2) stable)" 1662 1663)
  ("(x(agent2) up)" 1663 1715)
  ("(x(agent2) stable)" 1715 1716)
  ("(x(agent2) down)" 1716 1770)
  ("(x(agent2) stable)" 1770 1771)
  ("(x(agent2) up)" 1771 1819)
  ("(x(agent2) stable)" 1819 1820)
  ("(x(agent2) down)" 1820 1869)
  ("(x(agent2) stable)" 1869 1870)
  ("(x(agent2) up)" 1870 1922)
  ("(x(agent2) stable)" 1922 1923)
  ("(x(agent2) down)" 1923 1976)
  ("(x(agent2) stable)" 1976 1977)
  ("(x(agent2) up)" 1977 2030)
  ("(x(agent2) down)" 2030 2086)
  ("(x(agent2) stable)" 2086 2087)
  ("(x(agent2) up)" 2087 2131)
  ("(x(agent2) down)" 2131 2181)
  ("(x(agent2) stable)" 2181 2182)
  ("(x(agent2) up)" 2182 2231)
  ("(x(agent2) down)" 2231 2285)
  ("(x(agent2) stable)" 2285 2286)
  ("(x(agent2) up)" 2286 2336)
  ("(x(agent2) stable)" 2336 2337)
  ("(x(agent2) down)" 2337 2381)
  ("(y(agent2) 4)" 613 669)
  ("(y(agent2) 5)" 669 1052)
  ("(y(agent2) 4)" 1052 1065)
  ("(y(agent2) 5)" 1065 1135)
  ("(y(agent2) 4)" 1135 1182)
  ("(y(agent2) 5)" 1182 1212)
  ("(y(agent2) 4)" 1212 1238)
  ("(y(agent2) 3)" 1238 1264)
  ("(y(agent2) 4)" 1264 1329)
  ("(y(agent2) 3)" 1329 1352)
  ("(y(agent2) 2)" 1352 1367)
  ("(y(agent2) 3)" 1367 1431)
  ("(y(agent2) 2)" 1431 1528)
  ("(y(agent2) 1)" 1528 1572)
  ("(y(agent2) 2)" 1572 1605)
  ("(y(agent2) 3)" 1605 1606)
  ("(y(agent2) 2)" 1606 1637)
  ("(y(agent2) 1)" 1637 1680)
  ("(y(agent2) 2)" 1680 1701)
  ("(y(agent2) 3)" 1701 1731)
  ("(y(agent2) 2)" 1731 1753)
  ("(y(agent2) 1)" 1753 1784)
  ("(y(agent2) 2)" 1784 1808)
  ("(y(agent2) 3)" 1808 1833)
  ("(y(agent2) 2)" 1833 1861)
  ("(y(agent2) 1)" 1861 1875)
  ("(y(agent2) 2)" 1875 1899)
  ("(y(agent2) 3)" 1899 1945)
  ("(y(agent2) 2)" 1945 1970)
  ("(y(agent2) 1)" 1970 1983)
  ("(y(agent2) 2)" 1983 2006)
  ("(y(agent2) 3)" 2006 2051)
  ("(y(agent2) 2)" 2051 2070)
  ("(y(agent2) 1)" 2070 2106)
  ("(y(agent2) 2)" 2106 2148)
  ("(y(agent2) 1)" 2148 2381)
  ("(y(agent2) up)" 614 645)
  ("(y(agent2) stable)" 645 647)
  ("(y(agent2) down)" 647 702)
  ("(y(agent2) stable)" 702 704)
  ("(y(agent2) up)" 704 745)
  ("(y(agent2) stable)" 745 747)
  ("(y(agent2) down)" 747 799)
  ("(y(agent2) stable)" 799 801)
  ("(y(agent2) up)" 801 851)
  ("(y(agent2) stable)" 851 852)
  ("(y(agent2) down)" 852 906)
  ("(y(agent2) stable)" 906 907)
  ("(y(agent2) up)" 907 959)
  ("(y(agent2) stable)" 959 961)
  ("(y(agent2) down)" 961 1006)
  ("(y(agent2) stable)" 1006 1008)
  ("(y(agent2) up)" 1008 1059)
  ("(y(agent2) stable)" 1059 1060)
  ("(y(agent2) down)" 1060 1104)
  ("(y(agent2) stable)" 1104 1106)
  ("(y(agent2) up)" 1106 1157)
  ("(y(agent2) stable)" 1157 1159)
  ("(y(agent2) down)" 1159 1198)
  ("(y(agent2) stable)" 1198 1200)
  ("(y(agent2) up)" 1200 1251)
  ("(y(agent2) stable)" 1251 1252)
  ("(y(agent2) down)" 1252 1300)
  ("(y(agent2) stable)" 1300 1301)
  ("(y(agent2) up)" 1301 1359)
  ("(y(agent2) stable)" 1359 1360)
  ("(y(agent2) down)" 1360 1403)
  ("(y(agent2) stable)" 1403 1405)
  ("(y(agent2) up)" 1405 1464)
  ("(y(agent2) stable)" 1464 1465)
  ("(y(agent2) down)" 1465 1502)
  ("(y(agent2) stable)" 1502 1504)
  ("(y(agent2) up)" 1504 1551)
  ("(y(agent2) stable)" 1551 1553)
  ("(y(agent2) down)" 1553 1606)
  ("(y(agent2) stable)" 1606 1607)
  ("(y(agent2) up)" 1607 1660)
  ("(y(agent2) stable)" 1660 1661)
  ("(y(agent2) down)" 1661 1716)
  ("(y(agent2) stable)" 1716 1717)
  ("(y(agent2) up)" 1717 1769)
  ("(y(agent2) stable)" 1769 1770)
  ("(y(agent2) down)" 1770 1820)
  ("(y(agent2) stable)" 1820 1822)
  ("(y(agent2) up)" 1822 1868)
  ("(y(agent2) stable)" 1868 1870)
  ("(y(agent2) down)" 1870 1923)
  ("(y(agent2) stable)" 1923 1924)
  ("(y(agent2) up)" 1924 1977)
  ("(y(agent2) stable)" 1977 1978)
  ("(y(agent2) down)" 1978 2029)
  ("(y(agent2) stable)" 2029 2030)
  ("(y(agent2) up)" 2030 2087)
  ("(y(agent2) stable)" 2087 2088)
  ("(y(agent2) down)" 2088 2129)
  ("(y(agent2) stable)" 2129 2130)
  ("(y(agent2) up)" 2130 2184)
  ("(y(agent2) stable)" 2184 2185)
  ("(y(agent2) down)" 2185 2228)
  ("(y(agent2) stable)" 2228 2230)
  ("(y(agent2) up)" 2230 2285)
  ("(y(agent2) stable)" 2285 2286)
  ("(y(agent2) down)" 2286 2336)
  ("(y(agent2) stable)" 2336 2337)
  ("(y(agent2) up)" 2337 2381)
  ("(speed(agent2) 5)" 613 615)
  ("(speed(agent2) 4)" 615 644)
  ("(speed(agent2) 3)" 644 659)
  ("(speed(agent2) 4)" 659 666)
  ("(speed(agent2) 5)" 666 722)
  ("(speed(agent2) 4)" 722 740)
  ("(speed(agent2) 3)" 740 762)
  ("(speed(agent2) 4)" 762 768)
  ("(speed(agent2) 5)" 768 820)
  ("(speed(agent2) 4)" 820 837)
  ("(speed(agent2) 3)" 837 868)
  ("(speed(agent2) 4)" 868 880)
  ("(speed(agent2) 5)" 880 926)
  ("(speed(agent2) 4)" 926 936)
  ("(speed(agent2) 3)" 936 961)
  ("(speed(agent2) 2)" 961 964)
  ("(speed(agent2) 3)" 964 973)
  ("(speed(agent2) 4)" 973 979)
  ("(speed(agent2) 5)" 979 1021)
  ("(speed(agent2) 4)" 1021 1026)
  ("(speed(agent2) 3)" 1026 1045)
  ("(speed(agent2) 2)" 1045 1068)
  ("(speed(agent2) 3)" 1068 1073)
  ("(speed(agent2) 4)" 1073 1077)
  ("(speed(agent2) 5)" 1077 1117)
  ("(speed(agent2) 4)" 1117 1122)
  ("(speed(agent2) 3)" 1122 1134)
  ("(speed(agent2) 2)" 1134 1164)
  ("(speed(agent2) 3)" 1164 1168)
  ("(speed(agent2) 4)" 1168 1172)
  ("(speed(agent2) 5)" 1172 1212)
  ("(speed(agent2) 4)" 1212 1217)
  ("(speed(agent2) 3)" 1217 1219)
  ("(speed(agent2) 4)" 1219 1222)
  ("(speed(agent2) 3)" 1222 1238)
  ("(speed(agent2) 2)" 1238 1263)
  ("(speed(agent2) 3)" 1263 1267)
  ("(speed(agent2) 4)" 1267 1289)
  ("(speed(agent2) 5)" 1289 1313)
  ("(speed(agent2) 4)" 1313 1318)
  ("(speed(agent2) 3)" 1318 1322)
  ("(speed(agent2) 2)" 1322 1341)
  ("(speed(agent2) 1)" 1341 1362)
  ("(speed(agent2) 2)" 1362 1369)
  ("(speed(agent2) 3)" 1369 1373)
  ("(speed(agent2) 4)" 1373 1388)
  ("(speed(agent2) 5)" 1388 1417)
  ("(speed(agent2) 4)" 1417 1423)
  ("(speed(agent2) 3)" 1423 1426)
  ("(speed(agent2) 2)" 1426 1456)
  ("(speed(agent2) 1)" 1456 1461)
  ("(speed(agent2) 2)" 1461 1470)
  ("(speed(agent2) 3)" 1470 1474)
  ("(speed(agent2) 4)" 1474 1477)
  ("(speed(agent2) 5)" 1477 1517)
  ("(speed(agent2) 4)" 1517 1530)
  ("(speed(agent2) 3)" 1530 1539)
  ("(speed(agent2) 2)" 1539 1550)
  ("(speed(agent2) 1)" 1550 1568)
  ("(speed(agent2) 2)" 1568 1580)
  ("(speed(agent2) 3)" 1580 1589)
  ("(speed(agent2) 4)" 1589 1601)
  ("(speed(agent2) 5)" 1601 1618)
  ("(speed(agent2) 4)" 1618 1624)
  ("(speed(agent2) 3)" 1624 1627)
  ("(speed(agent2) 2)" 1627 1631)
  ("(speed(agent2) 1)" 1631 1679)
  ("(speed(agent2) 2)" 1679 1690)
  ("(speed(agent2) 3)" 1690 1698)
  ("(speed(agent2) 4)" 1698 1711)
  ("(speed(agent2) 5)" 1711 1727)
  ("(speed(agent2) 4)" 1727 1733)
  ("(speed(agent2) 3)" 1733 1736)
  ("(speed(agent2) 2)" 1736 1744)
  ("(speed(agent2) 1)" 1744 1784)
  ("(speed(agent2) 2)" 1784 1788)
  ("(speed(agent2) 3)" 1788 1796)
  ("(speed(agent2) 4)" 1796 1812)
  ("(speed(agent2) 5)" 1812 1831)
  ("(speed(agent2) 4)" 1831 1837)
  ("(speed(agent2) 3)" 1837 1843)
  ("(speed(agent2) 2)" 1843 1854)
  ("(speed(agent2) 1)" 1854 1888)
  ("(speed(agent2) 2)" 1888 1896)
  ("(speed(agent2) 3)" 1896 1905)
  ("(speed(agent2) 4)" 1905 1917)
  ("(speed(agent2) 5)" 1917 1934)
  ("(speed(agent2) 4)" 1934 1939)
  ("(speed(agent2) 3)" 1939 1943)
  ("(speed(agent2) 2)" 1943 1947)
  ("(speed(agent2) 1)" 1947 2004)
  ("(speed(agent2) 2)" 2004 2016)
  ("(speed(agent2) 3)" 2016 2028)
  ("(speed(agent2) 4)" 2028 2039)
  ("(speed(agent2) 3)" 2039 2044)
  ("(speed(agent2) 2)" 2044 2048)
  ("(speed(agent2) 1)" 2048 2099)
  ("(speed(agent2) 2)" 2099 2102)
  ("(speed(agent2) 3)" 2102 2104)
  ("(speed(agent2) 4)" 2104 2140)
  ("(speed(agent2) 3)" 2140 2145)
  ("(speed(agent2) 2)" 2145 2149)
  ("(speed(agent2) 1)" 2149 2197)
  ("(speed(agent2) 2)" 2197 2202)
  ("(speed(agent2) 3)" 2202 2225)
  ("(speed(agent2) 4)" 2225 2240)
  ("(speed(agent2) 3)" 2240 2245)
  ("(speed(agent2) 2)" 2245 2249)
  ("(speed(agent2) 1)" 2249 2303)
  ("(speed(agent2) 2)" 2303 2318)
  ("(speed(agent2) 3)" 2318 2334)
  ("(speed(agent2) 4)" 2334 2349)
  ("(speed(agent2) 3)" 2349 2355)
  ("(speed(agent2) 2)" 2355 2360)
  ("(speed(agent2) 1)" 2360 2380)
  ("(speed(agent2) 2)" 2380 2381)
  ("(speed(agent2) up)" 614 620)
  ("(speed(agent2) down)" 620 626)
  ("(speed(agent2) up)" 626 653)
  ("(speed(agent2) stable)" 653 654)
  ("(speed(agent2) down)" 654 704)
  ("(speed(agent2) up)" 704 754)
  ("(speed(agent2) down)" 754 805)
  ("(speed(agent2) up)" 805 858)
  ("(speed(agent2) stable)" 858 859)
  ("(speed(agent2) down)" 859 910)
  ("(speed(agent2) stable)" 910 911)
  ("(speed(agent2) up)" 911 963)
  ("(speed(agent2) down)" 963 1004)
  ("(speed(agent2) stable)" 1004 1005)
  ("(speed(agent2) up)" 1005 1027)
  ("(speed(agent2) down)" 1027 1029)
  ("(speed(agent2) stable)" 1029 1030)
  ("(speed(agent2) up)" 1030 1060)
  ("(speed(agent2) down)" 1060 1110)
  ("(speed(agent2) up)" 1110 1125)
  ("(speed(agent2) down)" 1125 1127)
  ("(speed(agent2) up)" 1127 1156)
  ("(speed(agent2) down)" 1156 1176)
  ("(speed(agent2) stable)" 1176 1177)
  ("(speed(agent2) up)" 1177 1218)
  ("(speed(agent2) down)" 1218 1221)
  ("(speed(agent2) up)" 1221 1255)
  ("(speed(agent2) down)" 1255 1269)
  ("(speed(agent2) up)" 1269 1271)
  ("(speed(agent2) down)" 1271 1306)
  ("(speed(agent2) up)" 1306 1359)
  ("(speed(agent2) down)" 1359 1410)
  ("(speed(agent2) stable)" 1410 1411)
  ("(speed(agent2) up)" 1411 1460)
  ("(speed(agent2) down)" 1460 1481)
  ("(speed(agent2) up)" 1481 1521)
  ("(speed(agent2) down)" 1521 1523)
  ("(speed(agent2) up)" 1523 1561)
  ("(speed(agent2) down)" 1561 1572)
  ("(speed(agent2) up)" 1572 1574)
  ("(speed(agent2) down)" 1574 1611)
  ("(speed(agent2) stable)" 1611 1612)
  ("(speed(agent2) up)" 1612 1668)
  ("(speed(agent2) down)" 1668 1720)
  ("(speed(agent2) stable)" 1720 1721)
  ("(speed(agent2) up)" 1721 1773)
  ("(speed(agent2) down)" 1773 1825)
  ("(speed(agent2) up)" 1825 1876)
  ("(speed(agent2) down)" 1876 1927)
  ("(speed(agent2) stable)" 1927 1928)
  ("(speed(agent2) up)" 1928 1984)
  ("(speed(agent2) down)" 1984 1997)
  ("(speed(agent2) stable)" 1997 1999)
  ("(speed(agent2) down)" 1999 2035)
  ("(speed(agent2) up)" 2035 2085)
  ("(speed(agent2) down)" 2085 2136)
  ("(speed(agent2) up)" 2136 2150)
  ("(speed(agent2) down)" 2150 2152)
  ("(speed(agent2) up)" 2152 2185)
  ("(speed(agent2) down)" 2185 2235)
  ("(speed(agent2) stable)" 2235 2236)
  ("(speed(agent2) up)" 2236 2289)
  ("(speed(agent2) down)" 2289 2304)
  ("(speed(agent2) up)" 2304 2306)
  ("(speed(agent2) down)" 2306 2342)
  ("(speed(agent2) stable)" 2342 2343)
  ("(speed(agent2) up)" 2343 2368)
  ("(speed(agent2) stable)" 2368 2369)
  ("(speed(agent2) down)" 2369 2381)
  ("(heading(agent2) 1)" 638 660)
  ("(heading(agent2) 2)" 660 664)
  ("(heading(agent2) 3)" 664 668)
  ("(heading(agent2) 4)" 668 674)
  ("(heading(agent2) 5)" 674 700)
  ("(heading(agent2) 4)" 700 738)
  ("(heading(agent2) 5)" 738 880)
  ("(heading(agent2) 4)" 880 1096)
  ("(heading(agent2) 3)" 1096 1113)
  ("(heading(agent2) 4)" 1113 1138)
  ("(heading(agent2) 5)" 1138 1219)
  ("(heading(agent2) 4)" 1219 1231)
  ("(heading(agent2) 3)" 1231 1310)
  ("(heading(agent2) 2)" 1310 1426)
  ("(heading(agent2) 1)" 1426 1620)
  ("(heading(agent2) 2)" 1620 1629)
  ("(heading(agent2) 3)" 1629 1636)
  ("(heading(agent2) 4)" 1636 1667)
  ("(heading(agent2) 5)" 1667 1734)
  ("(heading(agent2) 4)" 1734 1746)
  ("(heading(agent2) 3)" 1746 1793)
  ("(heading(agent2) 2)" 1793 1804)
  ("(heading(agent2) 3)" 1804 1808)
  ("(heading(agent2) 2)" 1808 1828)
  ("(heading(agent2) 3)" 1828 1843)
  ("(heading(agent2) 4)" 1843 1860)
  ("(heading(agent2) 5)" 1860 1946)
  ("(heading(agent2) 4)" 1946 1957)
  ("(heading(agent2) 3)" 1957 1982)
  ("(heading(agent2) 2)" 1982 2051)
  ("(heading(agent2) 3)" 2051 2062)
  ("(heading(agent2) 4)" 2062 2076)
  ("(heading(agent2) 3)" 2076 2144)
  ("(heading(agent2) 2)" 2144 2156)
  ("(heading(agent2) 1)" 2156 2257)
  ("(heading(agent2) 2)" 2257 2339)
  ("(heading(agent2) 1)" 2339 2356)
  ("(heading(agent2) down)" 639 680)
  ("(heading(agent2) stable)" 680 691)
  ("(heading(agent2) up)" 691 696)
  ("(heading(agent2) stable)" 696 1119)
  ("(heading(agent2) down)" 1119 1133)
  ("(heading(agent2) stable)" 1133 1209)
  ("(heading(agent2) up)" 1209 1235)
  ("(heading(agent2) stable)" 1235 1419)
  ("(heading(agent2) up)" 1419 1445)
  ("(heading(agent2) stable)" 1445 1604)
  ("(heading(agent2) down)" 1604 1645)
  ("(heading(agent2) stable)" 1645 1660)
  ("(heading(agent2) down)" 1660 1665)
  ("(heading(agent2) stable)" 1665 1692)
  ("(heading(agent2) down)" 1692 1696)
  ("(heading(agent2) stable)" 1696 1725)
  ("(heading(agent2) up)" 1725 1751)
  ("(heading(agent2) stable)" 1751 1829)
  ("(heading(agent2) down)" 1829 1854)
  ("(heading(agent2) stable)" 1854 1929)
  ("(heading(agent2) up)" 1929 1964)
  ("(heading(agent2) stable)" 1964 1982)
  ("(heading(agent2) up)" 1982 1991)
  ("(heading(agent2) stable)" 1991 2039)
  ("(heading(agent2) down)" 2039 2065)
  ("(heading(agent2) stable)" 2065 2135)
  ("(heading(agent2) up)" 2135 2168)
  ("(heading(agent2) stable)" 2168 2204)
  ("(heading(agent2) up)" 2204 2210)
  ("(heading(agent2) stable)" 2210 2237)
  ("(heading(agent2) down)" 2237 2263)
  ("(heading(agent2) stable)" 2263 2323)
  ("(heading(agent2) up)" 2323 2356)
  ("heard(agent1 agent2)" 2355 2406)
  ("heard(agent1 agent2)" 2245 2318)
  ("heard(agent1 agent2)" 2132 2216)
  ("heard(agent1 agent2)" 2048 2128)
  ("heard(agent1 agent2)" 1934 2011)
  ("heard(agent1 agent2)" 1727 1908)
  ("heard(agent1 agent2)" 1621 1701)
  ("heard(agent1 agent2)" 522 1589)
  ("novel(agent1 agent2)" 2356 2406)
  ("novel(agent1 agent2)" 2246 2325)
  ("novel(agent1 agent2)" 2133 2214)
  ("novel(agent1 agent2)" 2049 2129)
  ("novel(agent1 agent2)" 1935 2014)
  ("novel(agent1 agent2)" 1728 1809)
  ("novel(agent1 agent2)" 1622 1702)
  ("novel(agent1 agent2)" 523 602)
  ("collision(agent1 agent2)" 2389 2391)
  ("collision(agent1 agent2)" 2278 2280)
  ("collision(agent1 agent2)" 2175 2177)
  ("collision(agent1 agent2)" 2079 2081)
  ("collision(agent1 agent2)" 1971 1973)
  ("collision(agent1 agent2)" 1864 1866)
  ("collision(agent1 agent2)" 1764 1765)
  ("collision(agent1 agent2)" 1656 1658)
  ("collision(agent1 agent2)" 1546 1547)
  ("collision(agent1 agent2)" 1454 1456)
  ("collision(agent1 agent2)" 1350 1351)
  ("collision(agent1 agent2)" 1243 1245)
  ("collision(agent1 agent2)" 1150 1152)
  ("collision(agent1 agent2)" 1052 1054)
  ("collision(agent1 agent2)" 954 956)
  ("collision(agent1 agent2)" 846 848)
  ("collision(agent1 agent2)" 743 745)
  ("collision(agent1 agent2)" 645 647)
  ("collision(agent1 agent2)" 552 555)
  ("(distance(agent1 agent2) 4)" 547 548)
  ("(distance(agent1 agent2) 5)" 548 575)
  ("(distance(agent1 agent2) 4)" 575 586)
  ("(distance(agent1 agent2) 3)" 586 617)
  ("(distance(agent1 agent2) 4)" 617 628)
  ("(distance(agent1 agent2) 5)" 628 669)
  ("(distance(agent1 agent2) 4)" 669 679)
  ("(distance(agent1 agent2) 3)" 679 690)
  ("(distance(agent1 agent2) 2)" 690 707)
  ("(distance(agent1 agent2) 3)" 707 717)
  ("(distance(agent1 agent2) 4)" 717 727)
  ("(distance(agent1 agent2) 5)" 727 766)
  ("(distance(agent1 agent2) 4)" 766 775)
  ("(distance(agent1 agent2) 3)" 775 783)
  ("(distance(agent1 agent2) 2)" 783 815)
  ("(distance(agent1 agent2) 3)" 815 823)
  ("(distance(agent1 agent2) 4)" 823 832)
  ("(distance(agent1 agent2) 5)" 832 868)
  ("(distance(agent1 agent2) 4)" 868 876)
  ("(distance(agent1 agent2) 3)" 876 884)
  ("(distance(agent1 agent2) 2)" 884 895)
  ("(distance(agent1 agent2) 1)" 895 915)
  ("(distance(agent1 agent2) 2)" 915 926)
  ("(distance(agent1 agent2) 3)" 926 933)
  ("(distance(agent1 agent2) 4)" 933 942)
  ("(distance(agent1 agent2) 5)" 942 977)
  ("(distance(agent1 agent2) 4)" 977 986)
  ("(distance(agent1 agent2) 3)" 986 995)
  ("(distance(agent1 agent2) 2)" 995 1021)
  ("(distance(agent1 agent2) 3)" 1021 1029)
  ("(distance(agent1 agent2) 4)" 1029 1039)
  ("(distance(agent1 agent2) 5)" 1039 1073)
  ("(distance(agent1 agent2) 4)" 1073 1082)
  ("(distance(agent1 agent2) 3)" 1082 1090)
  ("(distance(agent1 agent2) 2)" 1090 1121)
  ("(distance(agent1 agent2) 3)" 1121 1128)
  ("(distance(agent1 agent2) 4)" 1128 1138)
  ("(distance(agent1 agent2) 5)" 1138 1172)
  ("(distance(agent1 agent2) 4)" 1172 1181)
  ("(distance(agent1 agent2) 3)" 1181 1191)
  ("(distance(agent1 agent2) 2)" 1191 1210)
  ("(distance(agent1 agent2) 3)" 1210 1220)
  ("(distance(agent1 agent2) 4)" 1220 1230)
  ("(distance(agent1 agent2) 5)" 1230 1263)
  ("(distance(agent1 agent2) 4)" 1263 1271)
  ("(distance(agent1 agent2) 3)" 1271 1277)
  ("(distance(agent1 agent2) 2)" 1277 1286)
  ("(distance(agent1 agent2) 1)" 1286 1318)
  ("(distance(agent1 agent2) 2)" 1318 1326)
  ("(distance(agent1 agent2) 3)" 1326 1332)
  ("(distance(agent1 agent2) 4)" 1332 1341)
  ("(distance(agent1 agent2) 5)" 1341 1369)
  ("(distance(agent1 agent2) 4)" 1369 1377)
  ("(distance(agent1 agent2) 3)" 1377 1384)
  ("(distance(agent1 agent2) 2)" 1384 1394)
  ("(distance(agent1 agent2) 1)" 1394 1419)
  ("(distance(agent1 agent2) 2)" 1419 1428)
  ("(distance(agent1 agent2) 3)" 1428 1434)
  ("(distance(agent1 agent2) 4)" 1434 1443)
  ("(distance(agent1 agent2) 5)" 1443 1474)
  ("(distance(agent1 agent2) 4)" 1474 1483)
  ("(distance(agent1 agent2) 3)" 1483 1492)
  ("(distance(agent1 agent2) 2)" 1492 1518)
  ("(distance(agent1 agent2) 3)" 1518 1526)
  ("(distance(agent1 agent2) 4)" 1526 1536)
  ("(distance(agent1 agent2) 5)" 1536 1563)
  ("(distance(agent1 agent2) 4)" 1563 1571)
  ("(distance(agent1 agent2) 3)" 1571 1576)
  ("(distance(agent1 agent2) 2)" 1576 1583)
  ("(distance(agent1 agent2) 1)" 1583 1629)
  ("(distance(agent1 agent2) 2)" 1629 1635)
  ("(distance(agent1 agent2) 3)" 1635 1641)
  ("(distance(agent1 agent2) 4)" 1641 1650)
  ("(distance(agent1 agent2) 5)" 1650 1673)
  ("(distance(agent1 agent2) 4)" 1673 1680)
  ("(distance(agent1 agent2) 3)" 1680 1686)
  ("(distance(agent1 agent2) 2)" 1686 1692)
  ("(distance(agent1 agent2) 1)" 1692 1737)
  ("(distance(agent1 agent2) 2)" 1737 1744)
  ("(distance(agent1 agent2) 3)" 1744 1750)
  ("(distance(agent1 agent2) 4)" 1750 1759)
  ("(distance(agent1 agent2) 5)" 1759 1780)
  ("(distance(agent1 agent2) 4)" 1780 1789)
  ("(distance(agent1 agent2) 3)" 1789 1795)
  ("(distance(agent1 agent2) 2)" 1795 1803)
  ("(distance(agent1 agent2) 1)" 1803 1835)
  ("(distance(agent1 agent2) 2)" 1835 1842)
  ("(distance(agent1 agent2) 3)" 1842 1849)
  ("(distance(agent1 agent2) 4)" 1849 1858)
  ("(distance(agent1 agent2) 5)" 1858 1879)
  ("(distance(agent1 agent2) 4)" 1879 1888)
  ("(distance(agent1 agent2) 3)" 1888 1893)
  ("(distance(agent1 agent2) 2)" 1893 1900)
  ("(distance(agent1 agent2) 1)" 1900 1943)
  ("(distance(agent1 agent2) 2)" 1943 1950)
  ("(distance(agent1 agent2) 3)" 1950 1956)
  ("(distance(agent1 agent2) 4)" 1956 1965)
  ("(distance(agent1 agent2) 5)" 1965 1986)
  ("(distance(agent1 agent2) 4)" 1986 1994)
  ("(distance(agent1 agent2) 3)" 1994 1999)
  ("(distance(agent1 agent2) 2)" 1999 2005)
  ("(distance(agent1 agent2) 1)" 2005 2054)
  ("(distance(agent1 agent2) 2)" 2054 2060)
  ("(distance(agent1 agent2) 3)" 2060 2066)
  ("(distance(agent1 agent2) 4)" 2066 2075)
  ("(distance(agent1 agent2) 5)" 2075 2094)
  ("(distance(agent1 agent2) 4)" 2094 2103)
  ("(distance(agent1 agent2) 3)" 2103 2109)
  ("(distance(agent1 agent2) 2)" 2109 2117)
  ("(distance(agent1 agent2) 1)" 2117 2145)
  ("(distance(agent1 agent2) 2)" 2145 2153)
  ("(distance(agent1 agent2) 3)" 2153 2159)
  ("(distance(agent1 agent2) 4)" 2159 2168)
  ("(distance(agent1 agent2) 5)" 2168 2190)
  ("(distance(agent1 agent2) 4)" 2190 2198)
  ("(distance(agent1 agent2) 3)" 2198 2204)
  ("(distance(agent1 agent2) 2)" 2204 2210)
  ("(distance(agent1 agent2) 1)" 2210 2251)
  ("(distance(agent1 agent2) 2)" 2251 2258)
  ("(distance(agent1 agent2) 3)" 2258 2264)
  ("(distance(agent1 agent2) 4)" 2264 2273)
  ("(distance(agent1 agent2) 5)" 2273 2292)
  ("(distance(agent1 agent2) 4)" 2292 2300)
  ("(distance(agent1 agent2) 3)" 2300 2305)
  ("(distance(agent1 agent2) 2)" 2305 2311)
  ("(distance(agent1 agent2) 1)" 2311 2362)
  ("(distance(agent1 agent2) 2)" 2362 2368)
  ("(distance(agent1 agent2) 3)" 2368 2374)
  ("(distance(agent1 agent2) 4)" 2374 2381)
  ("(distance(agent1 agent2) down)" 548 561)
  ("(distance(agent1 agent2) stable)" 561 562)
  ("(distance(agent1 agent2) up)" 562 603)
  ("(distance(agent1 agent2) down)" 603 649)
  ("(distance(agent1 agent2) stable)" 649 650)
  ("(distance(agent1 agent2) up)" 650 699)
  ("(distance(agent1 agent2) stable)" 699 700)
  ("(distance(agent1 agent2) down)" 700 748)
  ("(distance(agent1 agent2) up)" 748 800)
  ("(distance(agent1 agent2) down)" 800 851)
  ("(distance(agent1 agent2) stable)" 851 852)
  ("(distance(agent1 agent2) up)" 852 906)
  ("(distance(agent1 agent2) down)" 906 960)
  ("(distance(agent1 agent2) up)" 960 1009)
  ("(distance(agent1 agent2) down)" 1009 1057)
  ("(distance(agent1 agent2) up)" 1057 1106)
  ("(distance(agent1 agent2) stable)" 1106 1107)
  ("(distance(agent1 agent2) down)" 1107 1155)
  ("(distance(agent1 agent2) up)" 1155 1201)
  ("(distance(agent1 agent2) stable)" 1201 1202)
  ("(distance(agent1 agent2) down)" 1202 1248)
  ("(distance(agent1 agent2) up)" 1248 1302)
  ("(distance(agent1 agent2) stable)" 1302 1303)
  ("(distance(agent1 agent2) down)" 1303 1356)
  ("(distance(agent1 agent2) up)" 1356 1407)
  ("(distance(agent1 agent2) down)" 1407 1459)
  ("(distance(agent1 agent2) stable)" 1459 1460)
  ("(distance(agent1 agent2) up)" 1460 1506)
  ("(distance(agent1 agent2) down)" 1506 1550)
  ("(distance(agent1 agent2) stable)" 1550 1551)
  ("(distance(agent1 agent2) up)" 1551 1607)
  ("(distance(agent1 agent2) down)" 1607 1662)
  ("(distance(agent1 agent2) up)" 1662 1716)
  ("(distance(agent1 agent2) down)" 1716 1770)
  ("(distance(agent1 agent2) up)" 1770 1820)
  ("(distance(agent1 agent2) down)" 1820 1869)
  ("(distance(agent1 agent2) stable)" 1869 1870)
  ("(distance(agent1 agent2) up)" 1870 1923)
  ("(distance(agent1 agent2) down)" 1923 1976)
  ("(distance(agent1 agent2) up)" 1976 2031)
  ("(distance(agent1 agent2) down)" 2031 2085)
  ("(distance(agent1 agent2) up)" 2085 2132)
  ("(distance(agent1 agent2) down)" 2132 2180)
  ("(distance(agent1 agent2) up)" 2180 2232)
  ("(distance(agent1 agent2) down)" 2232 2283)
  ("(distance(agent1 agent2) stable)" 2283 2284)
  ("(distance(agent1 agent2) up)" 2284 2338)
  ("(distance(agent1 agent2) down)" 2338 2381)
  ("(relativeX(agent1 agent2) 2)" 613 624)
  ("(relativeX(agent1 agent2) 1)" 624 669)
  ("(relativeX(agent1 agent2) 2)" 669 679)
  ("(relativeX(agent1 agent2) 3)" 679 692)
  ("(relativeX(agent1 agent2) 4)" 692 705)
  ("(relativeX(agent1 agent2) 3)" 705 717)
  ("(relativeX(agent1 agent2) 2)" 717 727)
  ("(relativeX(agent1 agent2) 1)" 727 767)
  ("(relativeX(agent1 agent2) 2)" 767 776)
  ("(relativeX(agent1 agent2) 3)" 776 785)
  ("(relativeX(agent1 agent2) 4)" 785 813)
  ("(relativeX(agent1 agent2) 3)" 813 822)
  ("(relativeX(agent1 agent2) 2)" 822 831)
  ("(relativeX(agent1 agent2) 1)" 831 869)
  ("(relativeX(agent1 agent2) 2)" 869 877)
  ("(relativeX(agent1 agent2) 3)" 877 885)
  ("(relativeX(agent1 agent2) 4)" 885 898)
  ("(relativeX(agent1 agent2) 5)" 898 912)
  ("(relativeX(agent1 agent2) 4)" 912 925)
  ("(relativeX(agent1 agent2) 3)" 925 932)
  ("(relativeX(agent1 agent2) 2)" 932 941)
  ("(relativeX(agent1 agent2) 1)" 941 977)
  ("(relativeX(agent1 agent2) 2)" 977 987)
  ("(relativeX(agent1 agent2) 3)" 987 997)
  ("(relativeX(agent1 agent2) 4)" 997 1020)
  ("(relativeX(agent1 agent2) 3)" 1020 1028)
  ("(relativeX(agent1 agent2) 2)" 1028 1038)
  ("(relativeX(agent1 agent2) 1)" 1038 1073)
  ("(relativeX(agent1 agent2) 2)" 1073 1082)
  ("(relativeX(agent1 agent2) 3)" 1082 1090)
  ("(relativeX(agent1 agent2) 4)" 1090 1120)
  ("(relativeX(agent1 agent2) 3)" 1120 1128)
  ("(relativeX(agent1 agent2) 2)" 1128 1137)
  ("(relativeX(agent1 agent2) 1)" 1137 1172)
  ("(relativeX(agent1 agent2) 2)" 1172 1182)
  ("(relativeX(agent1 agent2) 3)" 1182 1194)
  ("(relativeX(agent1 agent2) 4)" 1194 1208)
  ("(relativeX(agent1 agent2) 3)" 1208 1219)
  ("(relativeX(agent1 agent2) 2)" 1219 1229)
  ("(relativeX(agent1 agent2) 1)" 1229 1263)
  ("(relativeX(agent1 agent2) 2)" 1263 1271)
  ("(relativeX(agent1 agent2) 3)" 1271 1277)
  ("(relativeX(agent1 agent2) 4)" 1277 1286)
  ("(relativeX(agent1 agent2) 5)" 1286 1318)
  ("(relativeX(agent1 agent2) 4)" 1318 1326)
  ("(relativeX(agent1 agent2) 3)" 1326 1332)
  ("(relativeX(agent1 agent2) 2)" 1332 1341)
  ("(relativeX(agent1 agent2) 1)" 1341 1369)
  ("(relativeX(agent1 agent2) 2)" 1369 1377)
  ("(relativeX(agent1 agent2) 3)" 1377 1384)
  ("(relativeX(agent1 agent2) 4)" 1384 1394)
  ("(relativeX(agent1 agent2) 5)" 1394 1419)
  ("(relativeX(agent1 agent2) 4)" 1419 1428)
  ("(relativeX(agent1 agent2) 3)" 1428 1435)
  ("(relativeX(agent1 agent2) 2)" 1435 1444)
  ("(relativeX(agent1 agent2) 1)" 1444 1474)
  ("(relativeX(agent1 agent2) 2)" 1474 1483)
  ("(relativeX(agent1 agent2) 3)" 1483 1491)
  ("(relativeX(agent1 agent2) 4)" 1491 1519)
  ("(relativeX(agent1 agent2) 3)" 1519 1526)
  ("(relativeX(agent1 agent2) 2)" 1526 1537)
  ("(relativeX(agent1 agent2) 1)" 1537 1562)
  ("(relativeX(agent1 agent2) 2)" 1562 1570)
  ("(relativeX(agent1 agent2) 3)" 1570 1576)
  ("(relativeX(agent1 agent2) 4)" 1576 1582)
  ("(relativeX(agent1 agent2) 5)" 1582 1629)
  ("(relativeX(agent1 agent2) 4)" 1629 1635)
  ("(relativeX(agent1 agent2) 3)" 1635 1641)
  ("(relativeX(agent1 agent2) 2)" 1641 1650)
  ("(relativeX(agent1 agent2) 1)" 1650 1673)
  ("(relativeX(agent1 agent2) 2)" 1673 1681)
  ("(relativeX(agent1 agent2) 3)" 1681 1686)
  ("(relativeX(agent1 agent2) 4)" 1686 1693)
  ("(relativeX(agent1 agent2) 5)" 1693 1736)
  ("(relativeX(agent1 agent2) 4)" 1736 1743)
  ("(relativeX(agent1 agent2) 3)" 1743 1749)
  ("(relativeX(agent1 agent2) 2)" 1749 1758)
  ("(relativeX(agent1 agent2) 1)" 1758 1780)
  ("(relativeX(agent1 agent2) 2)" 1780 1789)
  ("(relativeX(agent1 agent2) 3)" 1789 1795)
  ("(relativeX(agent1 agent2) 4)" 1795 1804)
  ("(relativeX(agent1 agent2) 5)" 1804 1834)
  ("(relativeX(agent1 agent2) 4)" 1834 1842)
  ("(relativeX(agent1 agent2) 3)" 1842 1848)
  ("(relativeX(agent1 agent2) 2)" 1848 1858)
  ("(relativeX(agent1 agent2) 1)" 1858 1880)
  ("(relativeX(agent1 agent2) 2)" 1880 1888)
  ("(relativeX(agent1 agent2) 3)" 1888 1894)
  ("(relativeX(agent1 agent2) 4)" 1894 1901)
  ("(relativeX(agent1 agent2) 5)" 1901 1943)
  ("(relativeX(agent1 agent2) 4)" 1943 1949)
  ("(relativeX(agent1 agent2) 3)" 1949 1955)
  ("(relativeX(agent1 agent2) 2)" 1955 1964)
  ("(relativeX(agent1 agent2) 1)" 1964 1986)
  ("(relativeX(agent1 agent2) 2)" 1986 1994)
  ("(relativeX(agent1 agent2) 3)" 1994 1999)
  ("(relativeX(agent1 agent2) 4)" 1999 2005)
  ("(relativeX(agent1 agent2) 5)" 2005 2054)
  ("(relativeX(agent1 agent2) 4)" 2054 2060)
  ("(relativeX(agent1 agent2) 3)" 2060 2066)
  ("(relativeX(agent1 agent2) 2)" 2066 2075)
  ("(relativeX(agent1 agent2) 1)" 2075 2094)
  ("(relativeX(agent1 agent2) 2)" 2094 2103)
  ("(relativeX(agent1 agent2) 3)" 2103 2109)
  ("(relativeX(agent1 agent2) 4)" 2109 2117)
  ("(relativeX(agent1 agent2) 5)" 2117 2145)
  ("(relativeX(agent1 agent2) 4)" 2145 2153)
  ("(relativeX(agent1 agent2) 3)" 2153 2159)
  ("(relativeX(agent1 agent2) 2)" 2159 2169)
  ("(relativeX(agent1 agent2) 1)" 2169 2189)
  ("(relativeX(agent1 agent2) 2)" 2189 2198)
  ("(relativeX(agent1 agent2) 3)" 2198 2203)
  ("(relativeX(agent1 agent2) 4)" 2203 2210)
  ("(relativeX(agent1 agent2) 5)" 2210 2252)
  ("(relativeX(agent1 agent2) 4)" 2252 2258)
  ("(relativeX(agent1 agent2) 3)" 2258 2264)
  ("(relativeX(agent1 agent2) 2)" 2264 2274)
  ("(relativeX(agent1 agent2) 1)" 2274 2292)
  ("(relativeX(agent1 agent2) 2)" 2292 2300)
  ("(relativeX(agent1 agent2) 3)" 2300 2305)
  ("(relativeX(agent1 agent2) 4)" 2305 2311)
  ("(relativeX(agent1 agent2) 5)" 2311 2363)
  ("(relativeX(agent1 agent2) 4)" 2363 2368)
  ("(relativeX(agent1 agent2) 3)" 2368 2374)
  ("(relativeX(agent1 agent2) 2)" 2374 2381)
  ("(relativeX(agent1 agent2) up)" 614 648)
  ("(relativeX(agent1 agent2) stable)" 648 649)
  ("(relativeX(agent1 agent2) down)" 649 699)
  ("(relativeX(agent1 agent2) up)" 699 748)
  ("(relativeX(agent1 agent2) down)" 748 800)
  ("(relativeX(agent1 agent2) up)" 800 851)
  ("(relativeX(agent1 agent2) stable)" 851 852)
  ("(relativeX(agent1 agent2) down)" 852 905)
  ("(relativeX(agent1 agent2) stable)" 905 906)
  ("(relativeX(agent1 agent2) up)" 906 960)
  ("(relativeX(agent1 agent2) down)" 960 1009)
  ("(relativeX(agent1 agent2) up)" 1009 1056)
  ("(relativeX(agent1 agent2) stable)" 1056 1057)
  ("(relativeX(agent1 agent2) down)" 1057 1106)
  ("(relativeX(agent1 agent2) stable)" 1106 1107)
  ("(relativeX(agent1 agent2) up)" 1107 1155)
  ("(relativeX(agent1 agent2) stable)" 1155 1156)
  ("(relativeX(agent1 agent2) down)" 1156 1202)
  ("(relativeX(agent1 agent2) up)" 1202 1247)
  ("(relativeX(agent1 agent2) stable)" 1247 1248)
  ("(relativeX(agent1 agent2) down)" 1248 1302)
  ("(relativeX(agent1 agent2) stable)" 1302 1303)
  ("(relativeX(agent1 agent2) up)" 1303 1356)
  ("(relativeX(agent1 agent2) down)" 1356 1407)
  ("(relativeX(agent1 agent2) stable)" 1407 1408)
  ("(relativeX(agent1 agent2) up)" 1408 1459)
  ("(relativeX(agent1 agent2) down)" 1459 1506)
  ("(relativeX(agent1 agent2) up)" 1506 1550)
  ("(relativeX(agent1 agent2) stable)" 1550 1551)
  ("(relativeX(agent1 agent2) down)" 1551 1607)
  ("(relativeX(agent1 agent2) up)" 1607 1662)
  ("(relativeX(agent1 agent2) down)" 1662 1716)
  ("(relativeX(agent1 agent2) up)" 1716 1770)
  ("(relativeX(agent1 agent2) down)" 1770 1820)
  ("(relativeX(agent1 agent2) up)" 1820 1869)
  ("(relativeX(agent1 agent2) stable)" 1869 1870)
  ("(relativeX(agent1 agent2) down)" 1870 1923)
  ("(relativeX(agent1 agent2) up)" 1923 1976)
  ("(relativeX(agent1 agent2) down)" 1976 2031)
  ("(relativeX(agent1 agent2) up)" 2031 2085)
  ("(relativeX(agent1 agent2) down)" 2085 2132)
  ("(relativeX(agent1 agent2) up)" 2132 2180)
  ("(relativeX(agent1 agent2) down)" 2180 2232)
  ("(relativeX(agent1 agent2) up)" 2232 2283)
  ("(relativeX(agent1 agent2) stable)" 2283 2284)
  ("(relativeX(agent1 agent2) down)" 2284 2338)
  ("(relativeX(agent1 agent2) up)" 2338 2381)
  ("(relativeY(agent1 agent2) 2)" 613 620)
  ("(relativeY(agent1 agent2) 3)" 620 627)
  ("(relativeY(agent1 agent2) 4)" 627 635)
  ("(relativeY(agent1 agent2) 5)" 635 669)
  ("(relativeY(agent1 agent2) 4)" 669 679)
  ("(relativeY(agent1 agent2) 3)" 679 689)
  ("(relativeY(agent1 agent2) 2)" 689 709)
  ("(relativeY(agent1 agent2) 3)" 709 718)
  ("(relativeY(agent1 agent2) 4)" 718 728)
  ("(relativeY(agent1 agent2) 5)" 728 764)
  ("(relativeY(agent1 agent2) 4)" 764 772)
  ("(relativeY(agent1 agent2) 3)" 772 779)
  ("(relativeY(agent1 agent2) 2)" 779 792)
  ("(relativeY(agent1 agent2) 1)" 792 806)
  ("(relativeY(agent1 agent2) 2)" 806 818)
  ("(relativeY(agent1 agent2) 3)" 818 825)
  ("(relativeY(agent1 agent2) 4)" 825 834)
  ("(relativeY(agent1 agent2) 5)" 834 868)
  ("(relativeY(agent1 agent2) 4)" 868 875)
  ("(relativeY(agent1 agent2) 3)" 875 882)
  ("(relativeY(agent1 agent2) 2)" 882 891)
  ("(relativeY(agent1 agent2) 1)" 891 919)
  ("(relativeY(agent1 agent2) 2)" 919 928)
  ("(relativeY(agent1 agent2) 3)" 928 934)
  ("(relativeY(agent1 agent2) 4)" 934 943)
  ("(relativeY(agent1 agent2) 5)" 943 975)
  ("(relativeY(agent1 agent2) 4)" 975 984)
  ("(relativeY(agent1 agent2) 3)" 984 992)
  ("(relativeY(agent1 agent2) 2)" 992 1023)
  ("(relativeY(agent1 agent2) 3)" 1023 1030)
  ("(relativeY(agent1 agent2) 4)" 1030 1039)
  ("(relativeY(agent1 agent2) 5)" 1039 1073)
  ("(relativeY(agent1 agent2) 4)" 1073 1081)
  ("(relativeY(agent1 agent2) 3)" 1081 1088)
  ("(relativeY(agent1 agent2) 2)" 1088 1122)
  ("(relativeY(agent1 agent2) 3)" 1122 1129)
  ("(relativeY(agent1 agent2) 4)" 1129 1139)
  ("(relativeY(agent1 agent2) 5)" 1139 1170)
  ("(relativeY(agent1 agent2) 4)" 1170 1179)
  ("(relativeY(agent1 agent2) 3)" 1179 1188)
  ("(relativeY(agent1 agent2) 2)" 1188 1213)
  ("(relativeY(agent1 agent2) 3)" 1213 1221)
  ("(relativeY(agent1 agent2) 4)" 1221 1230)
  ("(relativeY(agent1 agent2) 5)" 1230 1264)
  ("(relativeY(agent1 agent2) 4)" 1264 1272)
  ("(relativeY(agent1 agent2) 3)" 1272 1278)
  ("(relativeY(agent1 agent2) 2)" 1278 1287)
  ("(relativeY(agent1 agent2) 1)" 1287 1317)
  ("(relativeY(agent1 agent2) 2)" 1317 1325)
  ("(relativeY(agent1 agent2) 3)" 1325 1331)
  ("(relativeY(agent1 agent2) 4)" 1331 1340)
  ("(relativeY(agent1 agent2) 5)" 1340 1371)
  ("(relativeY(agent1 agent2) 4)" 1371 1379)
  ("(relativeY(agent1 agent2) 3)" 1379 1386)
  ("(relativeY(agent1 agent2) 2)" 1386 1398)
  ("(relativeY(agent1 agent2) 1)" 1398 1415)
  ("(relativeY(agent1 agent2) 2)" 1415 1426)
  ("(relativeY(agent1 agent2) 3)" 1426 1432)
  ("(relativeY(agent1 agent2) 4)" 1432 1441)
  ("(relativeY(agent1 agent2) 5)" 1441 1478)
  ("(relativeY(agent1 agent2) 4)" 1478 1488)
  ("(relativeY(agent1 agent2) 3)" 1488 1502)
  ("(relativeY(agent1 agent2) 2)" 1502 1509)
  ("(relativeY(agent1 agent2) 3)" 1509 1521)
  ("(relativeY(agent1 agent2) 4)" 1521 1531)
  ("(relativeY(agent1 agent2) 5)" 1531 1566)
  ("(relativeY(agent1 agent2) 4)" 1566 1573)
  ("(relativeY(agent1 agent2) 3)" 1573 1579)
  ("(relativeY(agent1 agent2) 2)" 1579 1586)
  ("(relativeY(agent1 agent2) 1)" 1586 1626)
  ("(relativeY(agent1 agent2) 2)" 1626 1633)
  ("(relativeY(agent1 agent2) 3)" 1633 1638)
  ("(relativeY(agent1 agent2) 4)" 1638 1647)
  ("(relativeY(agent1 agent2) 5)" 1647 1672)
  ("(relativeY(agent1 agent2) 4)" 1672 1679)
  ("(relativeY(agent1 agent2) 3)" 1679 1684)
  ("(relativeY(agent1 agent2) 2)" 1684 1691)
  ("(relativeY(agent1 agent2) 1)" 1691 1739)
  ("(relativeY(agent1 agent2) 2)" 1739 1745)
  ("(relativeY(agent1 agent2) 3)" 1745 1751)
  ("(relativeY(agent1 agent2) 4)" 1751 1760)
  ("(relativeY(agent1 agent2) 5)" 1760 1779)
  ("(relativeY(agent1 agent2) 4)" 1779 1788)
  ("(relativeY(agent1 agent2) 3)" 1788 1794)
  ("(relativeY(agent1 agent2) 2)" 1794 1801)
  ("(relativeY(agent1 agent2) 1)" 1801 1837)
  ("(relativeY(agent1 agent2) 2)" 1837 1844)
  ("(relativeY(agent1 agent2) 3)" 1844 1850)
  ("(relativeY(agent1 agent2) 4)" 1850 1860)
  ("(relativeY(agent1 agent2) 5)" 1860 1878)
  ("(relativeY(agent1 agent2) 4)" 1878 1887)
  ("(relativeY(agent1 agent2) 3)" 1887 1892)
  ("(relativeY(agent1 agent2) 2)" 1892 1898)
  ("(relativeY(agent1 agent2) 1)" 1898 1945)
  ("(relativeY(agent1 agent2) 2)" 1945 1951)
  ("(relativeY(agent1 agent2) 3)" 1951 1957)
  ("(relativeY(agent1 agent2) 4)" 1957 1965)
  ("(relativeY(agent1 agent2) 5)" 1965 1987)
  ("(relativeY(agent1 agent2) 4)" 1987 1994)
  ("(relativeY(agent1 agent2) 3)" 1994 1999)
  ("(relativeY(agent1 agent2) 2)" 1999 2005)
  ("(relativeY(agent1 agent2) 1)" 2005 2054)
  ("(relativeY(agent1 agent2) 2)" 2054 2059)
  ("(relativeY(agent1 agent2) 3)" 2059 2065)
  ("(relativeY(agent1 agent2) 4)" 2065 2074)
  ("(relativeY(agent1 agent2) 5)" 2074 2095)
  ("(relativeY(agent1 agent2) 4)" 2095 2104)
  ("(relativeY(agent1 agent2) 3)" 2104 2110)
  ("(relativeY(agent1 agent2) 2)" 2110 2119)
  ("(relativeY(agent1 agent2) 1)" 2119 2143)
  ("(relativeY(agent1 agent2) 2)" 2143 2151)
  ("(relativeY(agent1 agent2) 3)" 2151 2157)
  ("(relativeY(agent1 agent2) 4)" 2157 2166)
  ("(relativeY(agent1 agent2) 5)" 2166 2194)
  ("(relativeY(agent1 agent2) 4)" 2194 2202)
  ("(relativeY(agent1 agent2) 3)" 2202 2208)
  ("(relativeY(agent1 agent2) 2)" 2208 2216)
  ("(relativeY(agent1 agent2) 1)" 2216 2247)
  ("(relativeY(agent1 agent2) 2)" 2247 2254)
  ("(relativeY(agent1 agent2) 3)" 2254 2260)
  ("(relativeY(agent1 agent2) 4)" 2260 2268)
  ("(relativeY(agent1 agent2) 5)" 2268 2296)
  ("(relativeY(agent1 agent2) 4)" 2296 2303)
  ("(relativeY(agent1 agent2) 3)" 2303 2308)
  ("(relativeY(agent1 agent2) 2)" 2308 2314)
  ("(relativeY(agent1 agent2) 1)" 2314 2361)
  ("(relativeY(agent1 agent2) 2)" 2361 2367)
  ("(relativeY(agent1 agent2) 3)" 2367 2372)
  ("(relativeY(agent1 agent2) 4)" 2372 2379)
  ("(relativeY(agent1 agent2) 5)" 2379 2381)
  ("(relativeY(agent1 agent2) down)" 614 653)
  ("(relativeY(agent1 agent2) up)" 653 700)
  ("(relativeY(agent1 agent2) down)" 700 747)
  ("(relativeY(agent1 agent2) stable)" 747 748)
  ("(relativeY(agent1 agent2) up)" 748 799)
  ("(relativeY(agent1 agent2) stable)" 799 800)
  ("(relativeY(agent1 agent2) down)" 800 852)
  ("(relativeY(agent1 agent2) up)" 852 906)
  ("(relativeY(agent1 agent2) down)" 906 960)
  ("(relativeY(agent1 agent2) up)" 960 1008)
  ("(relativeY(agent1 agent2) stable)" 1008 1009)
  ("(relativeY(agent1 agent2) down)" 1009 1057)
  ("(relativeY(agent1 agent2) up)" 1057 1106)
  ("(relativeY(agent1 agent2) stable)" 1106 1107)
  ("(relativeY(agent1 agent2) down)" 1107 1155)
  ("(relativeY(agent1 agent2) up)" 1155 1201)
  ("(relativeY(agent1 agent2) stable)" 1201 1202)
  ("(relativeY(agent1 agent2) down)" 1202 1248)
  ("(relativeY(agent1 agent2) stable)" 1248 1249)
  ("(relativeY(agent1 agent2) up)" 1249 1302)
  ("(relativeY(agent1 agent2) stable)" 1302 1303)
  ("(relativeY(agent1 agent2) down)" 1303 1356)
  ("(relativeY(agent1 agent2) up)" 1356 1407)
  ("(relativeY(agent1 agent2) down)" 1407 1460)
  ("(relativeY(agent1 agent2) up)" 1460 1506)
  ("(relativeY(agent1 agent2) down)" 1506 1550)
  ("(relativeY(agent1 agent2) stable)" 1550 1551)
  ("(relativeY(agent1 agent2) up)" 1551 1607)
  ("(relativeY(agent1 agent2) down)" 1607 1660)
  ("(relativeY(agent1 agent2) stable)" 1660 1661)
  ("(relativeY(agent1 agent2) up)" 1661 1716)
  ("(relativeY(agent1 agent2) down)" 1716 1770)
  ("(relativeY(agent1 agent2) up)" 1770 1820)
  ("(relativeY(agent1 agent2) down)" 1820 1869)
  ("(relativeY(agent1 agent2) stable)" 1869 1870)
  ("(relativeY(agent1 agent2) up)" 1870 1923)
  ("(relativeY(agent1 agent2) down)" 1923 1977)
  ("(relativeY(agent1 agent2) up)" 1977 2031)
  ("(relativeY(agent1 agent2) down)" 2031 2085)
  ("(relativeY(agent1 agent2) up)" 2085 2132)
  ("(relativeY(agent1 agent2) down)" 2132 2181)
  ("(relativeY(agent1 agent2) up)" 2181 2232)
  ("(relativeY(agent1 agent2) down)" 2232 2283)
  ("(relativeY(agent1 agent2) up)" 2283 2338)
  ("(relativeY(agent1 agent2) down)" 2338 2381)
  ("(x(wall2) 3)" 272 2381)
  ("(x(wall2) stable)" 273 2381)
  ("(y(wall2) 3)" 272 2381)
  ("(y(wall2) stable)" 273 2381)
  ("(speed(wall2) 3)" 272 2381)
  ("(speed(wall2) stable)" 273 2381)
  ("(heading(wall2) 3)" 297 2356)
  ("(heading(wall2) stable)" 298 2356)
  ("novel(agent1 wall2)" 248 329)
  ("(distance(agent1 wall2) 1)" 272 350)
  ("(distance(agent1 wall2) 2)" 350 367)
  ("(distance(agent1 wall2) 3)" 367 383)
  ("(distance(agent1 wall2) 4)" 383 403)
  ("(distance(agent1 wall2) 5)" 403 672)
  ("(distance(agent1 wall2) 4)" 672 730)
  ("(distance(agent1 wall2) 5)" 730 762)
  ("(distance(agent1 wall2) 4)" 762 838)
  ("(distance(agent1 wall2) 5)" 838 863)
  ("(distance(agent1 wall2) 4)" 863 948)
  ("(distance(agent1 wall2) 5)" 948 971)
  ("(distance(agent1 wall2) 4)" 971 1184)
  ("(distance(agent1 wall2) 3)" 1184 1222)
  ("(distance(agent1 wall2) 4)" 1222 1262)
  ("(distance(agent1 wall2) 3)" 1262 1294)
  ("(distance(agent1 wall2) 2)" 1294 1313)
  ("(distance(agent1 wall2) 3)" 1313 1385)
  ("(distance(agent1 wall2) 2)" 1385 1431)
  ("(distance(agent1 wall2) 3)" 1431 1479)
  ("(distance(agent1 wall2) 2)" 1479 1532)
  ("(distance(agent1 wall2) 3)" 1532 1566)
  ("(distance(agent1 wall2) 2)" 1566 1604)
  ("(distance(agent1 wall2) 1)" 1604 1608)
  ("(distance(agent1 wall2) 2)" 1608 1646)
  ("(distance(agent1 wall2) 3)" 1646 1677)
  ("(distance(agent1 wall2) 2)" 1677 1755)
  ("(distance(agent1 wall2) 3)" 1755 1783)
  ("(distance(agent1 wall2) 2)" 1783 1857)
  ("(distance(agent1 wall2) 3)" 1857 1880)
  ("(distance(agent1 wall2) 2)" 1880 1921)
  ("(distance(agent1 wall2) 1)" 1921 1924)
  ("(distance(agent1 wall2) 2)" 1924 1966)
  ("(distance(agent1 wall2) 3)" 1966 1984)
  ("(distance(agent1 wall2) 2)" 1984 2016)
  ("(distance(agent1 wall2) 1)" 2016 2046)
  ("(distance(agent1 wall2) 2)" 2046 2119)
  ("(distance(agent1 wall2) 1)" 2119 2147)
  ("(distance(agent1 wall2) 2)" 2147 2202)
  ("(distance(agent1 wall2) 1)" 2202 2265)
  ("(distance(agent1 wall2) 2)" 2265 2295)
  ("(distance(agent1 wall2) 1)" 2295 2381)
  ("(distance(agent1 wall2) down)" 273 491)
  ("(distance(agent1 wall2) stable)" 491 494)
  ("(distance(agent1 wall2) up)" 494 611)
  ("(distance(agent1 wall2) stable)" 611 614)
  ("(distance(agent1 wall2) down)" 614 641)
  ("(distance(agent1 wall2) stable)" 641 645)
  ("(distance(agent1 wall2) up)" 645 700)
  ("(distance(agent1 wall2) stable)" 700 702)
  ("(distance(agent1 wall2) down)" 702 746)
  ("(distance(agent1 wall2) stable)" 746 749)
  ("(distance(agent1 wall2) up)" 749 799)
  ("(distance(agent1 wall2) stable)" 799 801)
  ("(distance(agent1 wall2) down)" 801 850)
  ("(distance(agent1 wall2) stable)" 850 852)
  ("(distance(agent1 wall2) up)" 852 905)
  ("(distance(agent1 wall2) stable)" 905 907)
  ("(distance(agent1 wall2) down)" 907 959)
  ("(distance(agent1 wall2) stable)" 959 961)
  ("(distance(agent1 wall2) up)" 961 1009)
  ("(distance(agent1 wall2) stable)" 1009 1011)
  ("(distance(agent1 wall2) down)" 1011 1053)
  ("(distance(agent1 wall2) stable)" 1053 1055)
  ("(distance(agent1 wall2) up)" 1055 1107)
  ("(distance(agent1 wall2) stable)" 1107 1109)
  ("(distance(agent1 wall2) down)" 1109 1151)
  ("(distance(agent1 wall2) stable)" 1151 1153)
  ("(distance(agent1 wall2) up)" 1153 1203)
  ("(distance(agent1 wall2) stable)" 1203 1205)
  ("(distance(agent1 wall2) down)" 1205 1243)
  ("(distance(agent1 wall2) stable)" 1243 1246)
  ("(distance(agent1 wall2) up)" 1246 1303)
  ("(distance(agent1 wall2) stable)" 1303 1305)
  ("(distance(agent1 wall2) down)" 1305 1352)
  ("(distance(agent1 wall2) stable)" 1352 1354)
  ("(distance(agent1 wall2) up)" 1354 1408)
  ("(distance(agent1 wall2) stable)" 1408 1410)
  ("(distance(agent1 wall2) down)" 1410 1455)
  ("(distance(agent1 wall2) stable)" 1455 1458)
  ("(distance(agent1 wall2) up)" 1458 1505)
  ("(distance(agent1 wall2) stable)" 1505 1507)
  ("(distance(agent1 wall2) down)" 1507 1550)
  ("(distance(agent1 wall2) stable)" 1550 1552)
  ("(distance(agent1 wall2) up)" 1552 1606)
  ("(distance(agent1 wall2) stable)" 1606 1608)
  ("(distance(agent1 wall2) down)" 1608 1661)
  ("(distance(agent1 wall2) stable)" 1661 1663)
  ("(distance(agent1 wall2) up)" 1663 1715)
  ("(distance(agent1 wall2) stable)" 1715 1717)
  ("(distance(agent1 wall2) down)" 1717 1769)
  ("(distance(agent1 wall2) stable)" 1769 1771)
  ("(distance(agent1 wall2) up)" 1771 1819)
  ("(distance(agent1 wall2) stable)" 1819 1821)
  ("(distance(agent1 wall2) down)" 1821 1869)
  ("(distance(agent1 wall2) stable)" 1869 1870)
  ("(distance(agent1 wall2) up)" 1870 1922)
  ("(distance(agent1 wall2) stable)" 1922 1924)
  ("(distance(agent1 wall2) down)" 1924 1975)
  ("(distance(agent1 wall2) stable)" 1975 1976)
  ("(distance(agent1 wall2) up)" 1976 2031)
  ("(distance(agent1 wall2) stable)" 2031 2032)
  ("(distance(agent1 wall2) down)" 2032 2082)
  ("(distance(agent1 wall2) stable)" 2082 2084)
  ("(distance(agent1 wall2) up)" 2084 2133)
  ("(distance(agent1 wall2) stable)" 2133 2135)
  ("(distance(agent1 wall2) down)" 2135 2177)
  ("(distance(agent1 wall2) stable)" 2177 2179)
  ("(distance(agent1 wall2) up)" 2179 2232)
  ("(distance(agent1 wall2) stable)" 2232 2234)
  ("(distance(agent1 wall2) down)" 2234 2280)
  ("(distance(agent1 wall2) stable)" 2280 2282)
  ("(distance(agent1 wall2) up)" 2282 2338)
  ("(distance(agent1 wall2) stable)" 2338 2340)
  ("(distance(agent1 wall2) down)" 2340 2381)
  ("(relativeX(agent1 wall2) 5)" 272 350)
  ("(relativeX(agent1 wall2) 4)" 350 367)
  ("(relativeX(agent1 wall2) 3)" 367 383)
  ("(relativeX(agent1 wall2) 2)" 383 403)
  ("(relativeX(agent1 wall2) 1)" 403 672)
  ("(relativeX(agent1 wall2) 2)" 672 730)
  ("(relativeX(agent1 wall2) 1)" 730 762)
  ("(relativeX(agent1 wall2) 2)" 762 838)
  ("(relativeX(agent1 wall2) 1)" 838 863)
  ("(relativeX(agent1 wall2) 2)" 863 948)
  ("(relativeX(agent1 wall2) 1)" 948 971)
  ("(relativeX(agent1 wall2) 2)" 971 1184)
  ("(relativeX(agent1 wall2) 3)" 1184 1222)
  ("(relativeX(agent1 wall2) 2)" 1222 1262)
  ("(relativeX(agent1 wall2) 3)" 1262 1294)
  ("(relativeX(agent1 wall2) 4)" 1294 1313)
  ("(relativeX(agent1 wall2) 3)" 1313 1385)
  ("(relativeX(agent1 wall2) 4)" 1385 1431)
  ("(relativeX(agent1 wall2) 3)" 1431 1479)
  ("(relativeX(agent1 wall2) 4)" 1479 1532)
  ("(relativeX(agent1 wall2) 3)" 1532 1566)
  ("(relativeX(agent1 wall2) 4)" 1566 1604)
  ("(relativeX(agent1 wall2) 5)" 1604 1608)
  ("(relativeX(agent1 wall2) 4)" 1608 1646)
  ("(relativeX(agent1 wall2) 3)" 1646 1677)
  ("(relativeX(agent1 wall2) 4)" 1677 1755)
  ("(relativeX(agent1 wall2) 3)" 1755 1783)
  ("(relativeX(agent1 wall2) 4)" 1783 1857)
  ("(relativeX(agent1 wall2) 3)" 1857 1880)
  ("(relativeX(agent1 wall2) 4)" 1880 1921)
  ("(relativeX(agent1 wall2) 5)" 1921 1924)
  ("(relativeX(agent1 wall2) 4)" 1924 1966)
  ("(relativeX(agent1 wall2) 3)" 1966 1984)
  ("(relativeX(agent1 wall2) 4)" 1984 2016)
  ("(relativeX(agent1 wall2) 5)" 2016 2046)
  ("(relativeX(agent1 wall2) 4)" 2046 2119)
  ("(relativeX(agent1 wall2) 5)" 2119 2147)
  ("(relativeX(agent1 wall2) 4)" 2147 2202)
  ("(relativeX(agent1 wall2) 5)" 2202 2265)
  ("(relativeX(agent1 wall2) 4)" 2265 2295)
  ("(relativeX(agent1 wall2) 5)" 2295 2381)
  ("(relativeX(agent1 wall2) up)" 273 491)
  ("(relativeX(agent1 wall2) stable)" 491 494)
  ("(relativeX(agent1 wall2) down)" 494 611)
  ("(relativeX(agent1 wall2) stable)" 611 614)
  ("(relativeX(agent1 wall2) up)" 614 641)
  ("(relativeX(agent1 wall2) stable)" 641 645)
  ("(relativeX(agent1 wall2) down)" 645 700)
  ("(relativeX(agent1 wall2) stable)" 700 702)
  ("(relativeX(agent1 wall2) up)" 702 746)
  ("(relativeX(agent1 wall2) stable)" 746 749)
  ("(relativeX(agent1 wall2) down)" 749 799)
  ("(relativeX(agent1 wall2) stable)" 799 801)
  ("(relativeX(agent1 wall2) up)" 801 850)
  ("(relativeX(agent1 wall2) stable)" 850 852)
  ("(relativeX(agent1 wall2) down)" 852 905)
  ("(relativeX(agent1 wall2) stable)" 905 907)
  ("(relativeX(agent1 wall2) up)" 907 959)
  ("(relativeX(agent1 wall2) stable)" 959 961)
  ("(relativeX(agent1 wall2) down)" 961 1009)
  ("(relativeX(agent1 wall2) stable)" 1009 1011)
  ("(relativeX(agent1 wall2) up)" 1011 1053)
  ("(relativeX(agent1 wall2) stable)" 1053 1055)
  ("(relativeX(agent1 wall2) down)" 1055 1107)
  ("(relativeX(agent1 wall2) stable)" 1107 1109)
  ("(relativeX(agent1 wall2) up)" 1109 1151)
  ("(relativeX(agent1 wall2) stable)" 1151 1153)
  ("(relativeX(agent1 wall2) down)" 1153 1203)
  ("(relativeX(agent1 wall2) stable)" 1203 1205)
  ("(relativeX(agent1 wall2) up)" 1205 1243)
  ("(relativeX(agent1 wall2) stable)" 1243 1246)
  ("(relativeX(agent1 wall2) down)" 1246 1303)
  ("(relativeX(agent1 wall2) stable)" 1303 1305)
  ("(relativeX(agent1 wall2) up)" 1305 1352)
  ("(relativeX(agent1 wall2) stable)" 1352 1354)
  ("(relativeX(agent1 wall2) down)" 1354 1408)
  ("(relativeX(agent1 wall2) stable)" 1408 1410)
  ("(relativeX(agent1 wall2) up)" 1410 1455)
  ("(relativeX(agent1 wall2) stable)" 1455 1458)
  ("(relativeX(agent1 wall2) down)" 1458 1505)
  ("(relativeX(agent1 wall2) stable)" 1505 1507)
  ("(relativeX(agent1 wall2) up)" 1507 1550)
  ("(relativeX(agent1 wall2) stable)" 1550 1552)
  ("(relativeX(agent1 wall2) down)" 1552 1606)
  ("(relativeX(agent1 wall2) stable)" 1606 1608)
  ("(relativeX(agent1 wall2) up)" 1608 1661)
  ("(relativeX(agent1 wall2) stable)" 1661 1663)
  ("(relativeX(agent1 wall2) down)" 1663 1715)
  ("(relativeX(agent1 wall2) stable)" 1715 1717)
  ("(relativeX(agent1 wall2) up)" 1717 1769)
  ("(relativeX(agent1 wall2) stable)" 1769 1771)
  ("(relativeX(agent1 wall2) down)" 1771 1819)
  ("(relativeX(agent1 wall2) stable)" 1819 1821)
  ("(relativeX(agent1 wall2) up)" 1821 1869)
  ("(relativeX(agent1 wall2) stable)" 1869 1870)
  ("(relativeX(agent1 wall2) down)" 1870 1922)
  ("(relativeX(agent1 wall2) stable)" 1922 1924)
  ("(relativeX(agent1 wall2) up)" 1924 1975)
  ("(relativeX(agent1 wall2) stable)" 1975 1977)
  ("(relativeX(agent1 wall2) down)" 1977 2031)
  ("(relativeX(agent1 wall2) stable)" 2031 2032)
  ("(relativeX(agent1 wall2) up)" 2032 2082)
  ("(relativeX(agent1 wall2) stable)" 2082 2084)
  ("(relativeX(agent1 wall2) down)" 2084 2133)
  ("(relativeX(agent1 wall2) stable)" 2133 2135)
  ("(relativeX(agent1 wall2) up)" 2135 2177)
  ("(relativeX(agent1 wall2) stable)" 2177 2179)
  ("(relativeX(agent1 wall2) down)" 2179 2232)
  ("(relativeX(agent1 wall2) stable)" 2232 2234)
  ("(relativeX(agent1 wall2) up)" 2234 2280)
  ("(relativeX(agent1 wall2) stable)" 2280 2282)
  ("(relativeX(agent1 wall2) down)" 2282 2338)
  ("(relativeX(agent1 wall2) stable)" 2338 2340)
  ("(relativeX(agent1 wall2) up)" 2340 2381)
  ("(relativeY(agent1 wall2) 5)" 272 423)
  ("(relativeY(agent1 wall2) 4)" 423 442)
  ("(relativeY(agent1 wall2) 3)" 442 460)
  ("(relativeY(agent1 wall2) 2)" 460 599)
  ("(relativeY(agent1 wall2) 3)" 599 732)
  ("(relativeY(agent1 wall2) 4)" 732 763)
  ("(relativeY(agent1 wall2) 3)" 763 833)
  ("(relativeY(agent1 wall2) 4)" 833 868)
  ("(relativeY(agent1 wall2) 3)" 868 941)
  ("(relativeY(agent1 wall2) 4)" 941 977)
  ("(relativeY(agent1 wall2) 3)" 977 1051)
  ("(relativeY(agent1 wall2) 4)" 1051 1056)
  ("(relativeY(agent1 wall2) 3)" 1056 1385)
  ("(relativeY(agent1 wall2) 2)" 1385 1438)
  ("(relativeY(agent1 wall2) 3)" 1438 1471)
  ("(relativeY(agent1 wall2) 2)" 1471 2315)
  ("(relativeY(agent1 wall2) 1)" 2315 2363)
  ("(relativeY(agent1 wall2) 2)" 2363 2381)
  ("(relativeY(agent1 wall2) up)" 273 500)
  ("(relativeY(agent1 wall2) stable)" 500 504)
  ("(relativeY(agent1 wall2) down)" 504 568)
  ("(relativeY(agent1 wall2) stable)" 568 574)
  ("(relativeY(agent1 wall2) up)" 574 582)
  ("(relativeY(agent1 wall2) stable)" 582 588)
  ("(relativeY(agent1 wall2) down)" 588 656)
  ("(relativeY(agent1 wall2) stable)" 656 661)
  ("(relativeY(agent1 wall2) up)" 661 693)
  ("(relativeY(agent1 wall2) stable)" 693 699)
  ("(relativeY(agent1 wall2) down)" 699 746)
  ("(relativeY(agent1 wall2) stable)" 746 751)
  ("(relativeY(agent1 wall2) up)" 751 797)
  ("(relativeY(agent1 wall2) stable)" 797 802)
  ("(relativeY(agent1 wall2) down)" 802 849)
  ("(relativeY(agent1 wall2) stable)" 849 855)
  ("(relativeY(agent1 wall2) up)" 855 903)
  ("(relativeY(agent1 wall2) stable)" 903 908)
  ("(relativeY(agent1 wall2) down)" 908 957)
  ("(relativeY(agent1 wall2) stable)" 957 962)
  ("(relativeY(agent1 wall2) up)" 962 1007)
  ("(relativeY(agent1 wall2) stable)" 1007 1013)
  ("(relativeY(agent1 wall2) down)" 1013 1051)
  ("(relativeY(agent1 wall2) stable)" 1051 1057)
  ("(relativeY(agent1 wall2) up)" 1057 1106)
  ("(relativeY(agent1 wall2) stable)" 1106 1111)
  ("(relativeY(agent1 wall2) down)" 1111 1148)
  ("(relativeY(agent1 wall2) stable)" 1148 1154)
  ("(relativeY(agent1 wall2) up)" 1154 1201)
  ("(relativeY(agent1 wall2) stable)" 1201 1207)
  ("(relativeY(agent1 wall2) down)" 1207 1241)
  ("(relativeY(agent1 wall2) stable)" 1241 1248)
  ("(relativeY(agent1 wall2) up)" 1248 1303)
  ("(relativeY(agent1 wall2) stable)" 1303 1308)
  ("(relativeY(agent1 wall2) down)" 1308 1349)
  ("(relativeY(agent1 wall2) stable)" 1349 1355)
  ("(relativeY(agent1 wall2) up)" 1355 1408)
  ("(relativeY(agent1 wall2) stable)" 1408 1413)
  ("(relativeY(agent1 wall2) down)" 1413 1453)
  ("(relativeY(agent1 wall2) stable)" 1453 1458)
  ("(relativeY(agent1 wall2) up)" 1458 1506)
  ("(relativeY(agent1 wall2) stable)" 1506 1511)
  ("(relativeY(agent1 wall2) down)" 1511 1546)
  ("(relativeY(agent1 wall2) stable)" 1546 1552)
  ("(relativeY(agent1 wall2) up)" 1552 1606)
  ("(relativeY(agent1 wall2) stable)" 1606 1610)
  ("(relativeY(agent1 wall2) down)" 1610 1658)
  ("(relativeY(agent1 wall2) stable)" 1658 1663)
  ("(relativeY(agent1 wall2) up)" 1663 1713)
  ("(relativeY(agent1 wall2) stable)" 1713 1717)
  ("(relativeY(agent1 wall2) down)" 1717 1769)
  ("(relativeY(agent1 wall2) stable)" 1769 1773)
  ("(relativeY(agent1 wall2) up)" 1773 1817)
  ("(relativeY(agent1 wall2) stable)" 1817 1821)
  ("(relativeY(agent1 wall2) down)" 1821 1868)
  ("(relativeY(agent1 wall2) stable)" 1868 1872)
  ("(relativeY(agent1 wall2) up)" 1872 1920)
  ("(relativeY(agent1 wall2) stable)" 1920 1924)
  ("(relativeY(agent1 wall2) down)" 1924 1974)
  ("(relativeY(agent1 wall2) stable)" 1974 1979)
  ("(relativeY(agent1 wall2) up)" 1979 2030)
  ("(relativeY(agent1 wall2) stable)" 2030 2034)
  ("(relativeY(agent1 wall2) down)" 2034 2080)
  ("(relativeY(agent1 wall2) stable)" 2080 2084)
  ("(relativeY(agent1 wall2) up)" 2084 2132)
  ("(relativeY(agent1 wall2) stable)" 2132 2137)
  ("(relativeY(agent1 wall2) down)" 2137 2175)
  ("(relativeY(agent1 wall2) stable)" 2175 2180)
  ("(relativeY(agent1 wall2) up)" 2180 2233)
  ("(relativeY(agent1 wall2) stable)" 2233 2238)
  ("(relativeY(agent1 wall2) down)" 2238 2277)
  ("(relativeY(agent1 wall2) stable)" 2277 2282)
  ("(relativeY(agent1 wall2) up)" 2282 2338)
  ("(relativeY(agent1 wall2) stable)" 2338 2342)
  ("(relativeY(agent1 wall2) down)" 2342 2381)
  ("(x(wall4) 3)" 258 593)
  ("(x(wall4) 3)" 2328 2351)
  ("(x(wall4) stable)" 259 593)
  ("(x(wall4) stable)" 2329 2351)
  ("(y(wall4) 3)" 258 593)
  ("(y(wall4) 3)" 2328 2351)
  ("(y(wall4) stable)" 259 593)
  ("(y(wall4) stable)" 2329 2351)
  ("(speed(wall4) 3)" 258 593)
  ("(speed(wall4) 3)" 2328 2351)
  ("(speed(wall4) stable)" 259 593)
  ("(speed(wall4) stable)" 2329 2351)
  ("(heading(wall4) 3)" 283 568)
  ("(heading(wall4) stable)" 284 568)
  ("novel(agent1 wall4)" 2304 2383)
  ("novel(agent1 wall4)" 2211 2290)
  ("novel(agent1 wall4)" 234 315)
  ("(distance(agent1 wall4) 1)" 258 354)
  ("(distance(agent1 wall4) 2)" 354 393)
  ("(distance(agent1 wall4) 3)" 393 424)
  ("(distance(agent1 wall4) 4)" 424 469)
  ("(distance(agent1 wall4) 5)" 469 539)
  ("(distance(agent1 wall4) 4)" 539 593)
  ("(distance(agent1 wall4) 5)" 2328 2351)
  ("(distance(agent1 wall4) down)" 259 498)
  ("(distance(agent1 wall4) stable)" 498 506)
  ("(distance(agent1 wall4) up)" 506 565)
  ("(distance(agent1 wall4) stable)" 565 578)
  ("(distance(agent1 wall4) down)" 578 579)
  ("(distance(agent1 wall4) stable)" 579 591)
  ("(distance(agent1 wall4) up)" 591 593)
  ("(distance(agent1 wall4) down)" 2329 2335)
  ("(distance(agent1 wall4) stable)" 2335 2344)
  ("(distance(agent1 wall4) up)" 2344 2351)
  ("(relativeX(agent1 wall4) 5)" 258 332)
  ("(relativeX(agent1 wall4) 4)" 332 367)
  ("(relativeX(agent1 wall4) 3)" 367 401)
  ("(relativeX(agent1 wall4) 2)" 401 449)
  ("(relativeX(agent1 wall4) 1)" 449 546)
  ("(relativeX(agent1 wall4) 2)" 546 593)
  ("(relativeX(agent1 wall4) 4)" 2328 2331)
  ("(relativeX(agent1 wall4) 5)" 2331 2346)
  ("(relativeX(agent1 wall4) 4)" 2346 2351)
  ("(relativeX(agent1 wall4) up)" 259 489)
  ("(relativeX(agent1 wall4) stable)" 489 496)
  ("(relativeX(agent1 wall4) down)" 496 593)
  ("(relativeX(agent1 wall4) down)" 2329 2337)
  ("(relativeX(agent1 wall4) stable)" 2337 2341)
  ("(relativeX(agent1 wall4) up)" 2341 2351)
  ("(relativeY(agent1 wall4) 5)" 258 354)
  ("(relativeY(agent1 wall4) 4)" 354 393)
  ("(relativeY(agent1 wall4) 3)" 393 424)
  ("(relativeY(agent1 wall4) 2)" 424 469)
  ("(relativeY(agent1 wall4) 1)" 469 539)
  ("(relativeY(agent1 wall4) 2)" 539 593)
  ("(relativeY(agent1 wall4) 1)" 2328 2351)
  ("(relativeY(agent1 wall4) up)" 259 498)
  ("(relativeY(agent1 wall4) stable)" 498 506)
  ("(relativeY(agent1 wall4) down)" 506 565)
  ("(relativeY(agent1 wall4) stable)" 565 578)
  ("(relativeY(agent1 wall4) up)" 578 579)
  ("(relativeY(agent1 wall4) stable)" 579 591)
  ("(relativeY(agent1 wall4) down)" 591 593)
  ("(relativeY(agent1 wall4) up)" 2329 2335)
  ("(relativeY(agent1 wall4) stable)" 2335 2344)
  ("(relativeY(agent1 wall4) down)" 2344 2351)
 ))
(12
 (
  ("(x(agent1) 2)" 25 232)
  ("(x(agent1) 3)" 232 417)
  ("(x(agent1) 4)" 417 582)
  ("(x(agent1) 5)" 582 1236)
  ("(x(agent1) 4)" 1236 1401)
  ("(x(agent1) 3)" 1401 1536)
  ("(x(agent1) 2)" 1536 1703)
  ("(x(agent1) 1)" 1703 2372)
  ("(x(agent1) stable)" 26 173)
  ("(x(agent1) down)" 173 838)
  ("(x(agent1) stable)" 838 980)
  ("(x(agent1) up)" 980 1878)
  ("(x(agent1) stable)" 1878 1954)
  ("(x(agent1) up)" 1954 1979)
  ("(x(agent1) stable)" 1979 2015)
  ("(x(agent1) down)" 2015 2040)
  ("(x(agent1) stable)" 2040 2157)
  ("(x(agent1) up)" 2157 2179)
  ("(x(agent1) stable)" 2179 2212)
  ("(x(agent1) down)" 2212 2231)
  ("(x(agent1) stable)" 2231 2265)
  ("(x(agent1) up)" 2265 2279)
  ("(x(agent1) stable)" 2279 2314)
  ("(x(agent1) down)" 2314 2328)
  ("(x(agent1) stable)" 2328 2362)
  ("(x(agent1) up)" 2362 2372)
  ("(y(agent1) 3)" 25 97)
  ("(y(agent1) 2)" 97 210)
  ("(y(agent1) 1)" 210 803)
  ("(y(agent1) 2)" 803 909)
  ("(y(agent1) 3)" 909 998)
  ("(y(agent1) 4)" 998 1124)
  ("(y(agent1) 5)" 1124 1771)
  ("(y(agent1) 4)" 1771 1897)
  ("(y(agent1) 3)" 1897 2372)
  ("(y(agent1) up)" 26 462)
  ("(y(agent1) stable)" 462 552)
  ("(y(agent1) down)" 552 1336)
  ("(y(agent1) stable)" 1336 1589)
  ("(y(agent1) up)" 1589 1960)
  ("(y(agent1) stable)" 1960 2055)
  ("(y(agent1) down)" 2055 2091)
  ("(y(agent1) stable)" 2091 2372)
  ("(speed(agent1) 5)" 25 56)
  ("(speed(agent1) 4)" 56 83)
  ("(speed(agent1) 3)" 83 131)
  ("(speed(agent1) 2)" 131 1921)
  ("(speed(agent1) 3)" 1921 1934)
  ("(speed(agent1) 4)" 1934 1948)
  ("(speed(agent1) 5)" 1948 2372)
  ("(speed(agent1) up)" 26 211)
  ("(speed(agent1) stable)" 211 1819)
  ("(speed(agent1) down)" 1819 1877)
  ("(speed(agent1) stable)" 1877 1896)
  ("(speed(agent1) up)" 1896 1910)
  ("(speed(agent1) stable)" 1910 1918)
  ("(speed(agent1) down)" 1918 2005)
  ("(speed(agent1) up)" 2005 2058)
  ("(speed(agent1) stable)" 2058 2059)
  ("(speed(agent1) down)" 2059 2110)
  ("(speed(agent1) stable)" 2110 2111)
  ("(speed(agent1) up)" 2111 2113)
  ("(speed(agent1) down)" 2113 2119)
  ("(speed(agent1) stable)" 2119 2120)
  ("(speed(agent1) up)" 2120 2153)
  ("(speed(agent1) stable)" 2153 2154)
  ("(speed(agent1) down)" 2154 2201)
  ("(speed(agent1) stable)" 2201 2202)
  ("(speed(agent1) up)" 2202 2251)
  ("(speed(agent1) stable)" 2251 2252)
  ("(speed(agent1) down)" 2252 2302)
  ("(speed(agent1) stable)" 2302 2303)
  ("(speed(agent1) up)" 2303 2355)
  ("(speed(agent1) stable)" 2355 2356)
  ("(speed(agent1) down)" 2356 2372)
  ("(heading(agent1) 4)" 50 296)
  ("(heading(agent1) 3)" 296 530)
  ("(heading(agent1) 2)" 530 806)
  ("(heading(agent1) 1)" 806 1354)
  ("(heading(agent1) 5)" 1354 1881)
  ("(heading(agent1) 4)" 1881 1992)
  ("(heading(agent1) 3)" 1992 2347)
  ("(heading(agent1) up)" 51 1412)
  ("(heading(agent1) stable)" 1412 1512)
  ("(heading(agent1) up)" 1512 2050)
  ("(heading(agent1) stable)" 2050 2072)
  ("(heading(agent1) down)" 2072 2073)
  ("(heading(agent1) stable)" 2073 2088)
  ("(heading(agent1) up)" 2088 2193)
  ("(heading(agent1) stable)" 2193 2232)
  ("(heading(agent1) down)" 2232 2294)
  ("(heading(agent1) stable)" 2294 2347)
  ("(energy(agent1) 2)" 25 1929)
  ("(energy(agent1) 3)" 1929 1958)
  ("(energy(agent1) 4)" 1958 2046)
  ("(energy(agent1) 5)" 2046 2372)
  ("(energy(agent1) stable)" 26 1919)
  ("(energy(agent1) down)" 1919 1970)
  ("(energy(agent1) stable)" 1970 2023)
  ("(energy(agent1) down)" 2023 2074)
  ("(energy(agent1) stable)" 2074 2114)
  ("(energy(agent1) down)" 2114 2165)
  ("(energy(agent1) stable)" 2165 2220)
  ("(energy(agent1) down)" 2220 2271)
  ("(energy(agent1) stable)" 2271 2319)
  ("(energy(agent1) down)" 2319 2370)
  ("(energy(agent1) stable)" 2370 2372)
  ("(arousal(agent1) 1)" 25 129)
  ("(arousal(agent1) 2)" 129 801)
  ("(arousal(agent1) 3)" 801 963)
  ("(arousal(agent1) 4)" 963 1155)
  ("(arousal(agent1) 5)" 1155 1330)
  ("(arousal(agent1) 4)" 1330 1404)
  ("(arousal(agent1) 5)" 1404 1923)
  ("(arousal(agent1) 4)" 1923 1950)
  ("(arousal(agent1) 3)" 1950 1985)
  ("(arousal(agent1) 2)" 1985 2061)
  ("(arousal(agent1) 1)" 2061 2372)
  ("(arousal(agent1) down)" 26 278)
  ("(arousal(agent1) stable)" 278 290)
  ("(arousal(agent1) up)" 290 377)
  ("(arousal(agent1) stable)" 377 388)
  ("(arousal(agent1) down)" 388 553)
  ("(arousal(agent1) stable)" 553 563)
  ("(arousal(agent1) up)" 563 649)
  ("(arousal(agent1) stable)" 649 660)
  ("(arousal(agent1) down)" 660 1258)
  ("(arousal(agent1) stable)" 1258 1269)
  ("(arousal(agent1) up)" 1269 1359)
  ("(arousal(agent1) stable)" 1359 1369)
  ("(arousal(agent1) down)" 1369 1642)
  ("(arousal(agent1) stable)" 1642 1654)
  ("(arousal(agent1) up)" 1654 1739)
  ("(arousal(agent1) stable)" 1739 1750)
  ("(arousal(agent1) down)" 1750 1823)
  ("(arousal(agent1) stable)" 1823 1834)
  ("(arousal(agent1) up)" 1834 2006)
  ("(arousal(agent1) stable)" 2006 2017)
  ("(arousal(agent1) down)" 2017 2022)
  ("(arousal(agent1) up)" 2022 2073)
  ("(arousal(agent1) down)" 2073 2113)
  ("(arousal(agent1) up)" 2113 2164)
  ("(arousal(agent1) down)" 2164 2219)
  ("(arousal(agent1) up)" 2219 2270)
  ("(arousal(agent1) down)" 2270 2318)
  ("(arousal(agent1) up)" 2318 2369)
  ("(arousal(agent1) down)" 2369 2372)
  ("(valence(agent1) 4)" 25 1925)
  ("(valence(agent1) 3)" 1925 1945)
  ("(valence(agent1) 2)" 1945 2030)
  ("(valence(agent1) 1)" 2030 2372)
  ("(valence(agent1) stable)" 26 1918)
  ("(valence(agent1) up)" 1918 1969)
  ("(valence(agent1) down)" 1969 2022)
  ("(valence(agent1) up)" 2022 2073)
  ("(valence(agent1) down)" 2073 2113)
  ("(valence(agent1) up)" 2113 2164)
  ("(valence(agent1) down)" 2164 2219)
  ("(valence(agent1) up)" 2219 2270)
  ("(valence(agent1) down)" 2270 2318)
  ("(valence(agent1) up)" 2318 2369)
  ("(valence(agent1) down)" 2369 2372)
  ("(goal(agent1) WanderGoal)" 0 1837)
  ("(goal(agent1) PursueGoal)" 1837 2397)
  ("(state(agent1) wander)" 0 1837)
  ("(state(agent1) charge)" 1837 1943)
  ("(state(agent1) back-away)" 1943 1977)
  ("(state(agent1) charge)" 1977 2047)
  ("(state(agent1) back-away)" 2047 2081)
  ("(state(agent1) charge)" 2081 2137)
  ("(state(agent1) back-away)" 2137 2171)
  ("(state(agent1) charge)" 2171 2243)
  ("(state(agent1) back-away)" 2243 2273)
  ("(state(agent1) charge)" 2273 2342)
  ("(state(agent1) back-away)" 2342 2376)
  ("(state(agent1) charge)" 2376 2397)
  ("(x(agent2) 3)" 1861 1883)
  ("(x(agent2) 2)" 1883 1911)
  ("(x(agent2) 1)" 1911 1926)
  ("(x(agent2) 5)" 2008 2026)
  ("(x(agent2) 4)" 2026 2032)
  ("(x(agent2) 3)" 2032 2037)
  ("(x(agent2) 2)" 2037 2045)
  ("(x(agent2) 1)" 2045 2073)
  ("(x(agent2) 2)" 2073 2085)
  ("(x(agent2) 3)" 2085 2113)
  ("(x(agent2) 2)" 2113 2125)
  ("(x(agent2) 1)" 2125 2153)
  ("(x(agent2) 2)" 2153 2161)
  ("(x(agent2) 3)" 2161 2166)
  ("(x(agent2) 4)" 2166 2172)
  ("(x(agent2) 5)" 2172 2218)
  ("(x(agent2) 4)" 2218 2224)
  ("(x(agent2) 3)" 2224 2230)
  ("(x(agent2) 2)" 2230 2239)
  ("(x(agent2) 1)" 2239 2258)
  ("(x(agent2) 2)" 2258 2267)
  ("(x(agent2) 3)" 2267 2272)
  ("(x(agent2) 4)" 2272 2279)
  ("(x(agent2) 5)" 2279 2315)
  ("(x(agent2) 4)" 2315 2321)
  ("(x(agent2) 3)" 2321 2327)
  ("(x(agent2) 2)" 2327 2337)
  ("(x(agent2) 1)" 2337 2356)
  ("(x(agent2) 2)" 2356 2364)
  ("(x(agent2) 3)" 2364 2369)
  ("(x(agent2) 4)" 2369 2372)
  ("(x(agent2) up)" 1862 1926)
  ("(x(agent2) up)" 2009 2059)
  ("(x(agent2) stable)" 2059 2060)
  ("(x(agent2) down)" 2060 2100)
  ("(x(agent2) stable)" 2100 2101)
  ("(x(agent2) up)" 2101 2140)
  ("(x(agent2) stable)" 2140 2141)
  ("(x(agent2) down)" 2141 2196)
  ("(x(agent2) stable)" 2196 2197)
  ("(x(agent2) up)" 2197 2249)
  ("(x(agent2) down)" 2249 2298)
  ("(x(agent2) up)" 2298 2347)
  ("(x(agent2) down)" 2347 2372)
  ("(y(agent2) 1)" 1861 1926)
  ("(y(agent2) 3)" 2008 2118)
  ("(y(agent2) 4)" 2118 2372)
  ("(y(agent2) down)" 1862 1926)
  ("(y(agent2) up)" 2009 2018)
  ("(y(agent2) stable)" 2018 2056)
  ("(y(agent2) down)" 2056 2185)
  ("(y(agent2) stable)" 2185 2220)
  ("(y(agent2) up)" 2220 2282)
  ("(y(agent2) stable)" 2282 2306)
  ("(y(agent2) down)" 2306 2342)
  ("(y(agent2) stable)" 2342 2366)
  ("(y(agent2) up)" 2366 2372)
  ("(speed(agent2) 1)" 1861 1926)
  ("(speed(agent2) 4)" 2008 2108)
  ("(speed(agent2) 3)" 2108 2161)
  ("(speed(agent2) 4)" 2161 2197)
  ("(speed(agent2) 5)" 2197 2204)
  ("(speed(agent2) 4)" 2204 2228)
  ("(speed(agent2) 3)" 2228 2263)
  ("(speed(agent2) 4)" 2263 2299)
  ("(speed(agent2) 5)" 2299 2305)
  ("(speed(agent2) 4)" 2305 2334)
  ("(speed(agent2) 3)" 2334 2366)
  ("(speed(agent2) 4)" 2366 2372)
  ("(speed(agent2) stable)" 1862 1916)
  ("(speed(agent2) down)" 1916 1926)
  ("(speed(agent2) up)" 2009 2029)
  ("(speed(agent2) stable)" 2029 2030)
  ("(speed(agent2) down)" 2030 2073)
  ("(speed(agent2) up)" 2073 2113)
  ("(speed(agent2) down)" 2113 2120)
  ("(speed(agent2) stable)" 2120 2122)
  ("(speed(agent2) up)" 2122 2150)
  ("(speed(agent2) down)" 2150 2201)
  ("(speed(agent2) up)" 2201 2251)
  ("(speed(agent2) stable)" 2251 2252)
  ("(speed(agent2) down)" 2252 2302)
  ("(speed(agent2) stable)" 2302 2303)
  ("(speed(agent2) up)" 2303 2355)
  ("(speed(agent2) stable)" 2355 2356)
  ("(speed(agent2) down)" 2356 2372)
  ("(heading(agent2) 2)" 1886 1901)
  ("(heading(agent2) 4)" 2033 2035)
  ("(heading(agent2) 5)" 2035 2076)
  ("(heading(agent2) 1)" 2076 2133)
  ("(heading(agent2) 5)" 2133 2229)
  ("(heading(agent2) 1)" 2229 2347)
  ("(heading(agent2) up)" 1887 1901)
  ("(heading(agent2) down)" 2034 2103)
  ("(heading(agent2) stable)" 2103 2106)
  ("(heading(agent2) up)" 2106 2189)
  ("(heading(agent2) stable)" 2189 2193)
  ("(heading(agent2) down)" 2193 2262)
  ("(heading(agent2) stable)" 2262 2266)
  ("(heading(agent2) down)" 2266 2292)
  ("(heading(agent2) stable)" 2292 2299)
  ("(heading(agent2) up)" 2299 2344)
  ("(heading(agent2) stable)" 2344 2347)
  ("heard(agent1 agent2)" 1921 2390)
  ("novel(agent1 agent2)" 1922 2002)
  ("novel(agent1 agent2)" 1837 1916)
  ("collision(agent1 agent2)" 2342 2345)
  ("collision(agent1 agent2)" 2243 2246)
  ("collision(agent1 agent2)" 2137 2140)
  ("collision(agent1 agent2)" 2047 2049)
  ("collision(agent1 agent2)" 1943 1945)
  ("(distance(agent1 agent2) 1)" 1861 1914)
  ("(distance(agent1 agent2) 2)" 1914 1924)
  ("(distance(agent1 agent2) 3)" 1924 1935)
  ("(distance(agent1 agent2) 4)" 1935 1971)
  ("(distance(agent1 agent2) 3)" 1971 2024)
  ("(distance(agent1 agent2) 4)" 2024 2168)
  ("(distance(agent1 agent2) 3)" 2168 2222)
  ("(distance(agent1 agent2) 4)" 2222 2274)
  ("(distance(agent1 agent2) 3)" 2274 2319)
  ("(distance(agent1 agent2) 4)" 2319 2371)
  ("(distance(agent1 agent2) 3)" 2371 2372)
  ("(distance(agent1 agent2) down)" 1862 1952)
  ("(distance(agent1 agent2) stable)" 1952 1953)
  ("(distance(agent1 agent2) up)" 1953 1998)
  ("(distance(agent1 agent2) stable)" 1998 2000)
  ("(distance(agent1 agent2) down)" 2000 2056)
  ("(distance(agent1 agent2) stable)" 2056 2057)
  ("(distance(agent1 agent2) up)" 2057 2098)
  ("(distance(agent1 agent2) stable)" 2098 2100)
  ("(distance(agent1 agent2) down)" 2100 2139)
  ("(distance(agent1 agent2) stable)" 2139 2141)
  ("(distance(agent1 agent2) up)" 2141 2196)
  ("(distance(agent1 agent2) stable)" 2196 2197)
  ("(distance(agent1 agent2) down)" 2197 2248)
  ("(distance(agent1 agent2) stable)" 2248 2250)
  ("(distance(agent1 agent2) up)" 2250 2297)
  ("(distance(agent1 agent2) stable)" 2297 2299)
  ("(distance(agent1 agent2) down)" 2299 2347)
  ("(distance(agent1 agent2) stable)" 2347 2348)
  ("(distance(agent1 agent2) up)" 2348 2372)
  ("(relativeX(agent1 agent2) 5)" 1861 1926)
  ("(relativeX(agent1 agent2) 1)" 2008 2021)
  ("(relativeX(agent1 agent2) 2)" 2021 2029)
  ("(relativeX(agent1 agent2) 3)" 2029 2036)
  ("(relativeX(agent1 agent2) 4)" 2036 2046)
  ("(relativeX(agent1 agent2) 5)" 2046 2070)
  ("(relativeX(agent1 agent2) 4)" 2070 2083)
  ("(relativeX(agent1 agent2) 3)" 2083 2120)
  ("(relativeX(agent1 agent2) 4)" 2120 2155)
  ("(relativeX(agent1 agent2) 3)" 2155 2163)
  ("(relativeX(agent1 agent2) 2)" 2163 2170)
  ("(relativeX(agent1 agent2) 1)" 2170 2220)
  ("(relativeX(agent1 agent2) 2)" 2220 2228)
  ("(relativeX(agent1 agent2) 3)" 2228 2237)
  ("(relativeX(agent1 agent2) 4)" 2237 2259)
  ("(relativeX(agent1 agent2) 3)" 2259 2268)
  ("(relativeX(agent1 agent2) 2)" 2268 2277)
  ("(relativeX(agent1 agent2) 1)" 2277 2317)
  ("(relativeX(agent1 agent2) 2)" 2317 2325)
  ("(relativeX(agent1 agent2) 3)" 2325 2335)
  ("(relativeX(agent1 agent2) 4)" 2335 2358)
  ("(relativeX(agent1 agent2) 3)" 2358 2366)
  ("(relativeX(agent1 agent2) 2)" 2366 2372)
  ("(relativeX(agent1 agent2) up)" 1862 1908)
  ("(relativeX(agent1 agent2) stable)" 1908 1910)
  ("(relativeX(agent1 agent2) down)" 1910 1923)
  ("(relativeX(agent1 agent2) stable)" 1923 1924)
  ("(relativeX(agent1 agent2) up)" 1924 1926)
  ("(relativeX(agent1 agent2) down)" 2009 2058)
  ("(relativeX(agent1 agent2) stable)" 2058 2059)
  ("(relativeX(agent1 agent2) up)" 2059 2102)
  ("(relativeX(agent1 agent2) stable)" 2102 2103)
  ("(relativeX(agent1 agent2) down)" 2103 2139)
  ("(relativeX(agent1 agent2) stable)" 2139 2140)
  ("(relativeX(agent1 agent2) up)" 2140 2196)
  ("(relativeX(agent1 agent2) stable)" 2196 2197)
  ("(relativeX(agent1 agent2) down)" 2197 2249)
  ("(relativeX(agent1 agent2) up)" 2249 2298)
  ("(relativeX(agent1 agent2) down)" 2298 2347)
  ("(relativeX(agent1 agent2) stable)" 2347 2348)
  ("(relativeX(agent1 agent2) up)" 2348 2372)
  ("(relativeY(agent1 agent2) 5)" 1861 1919)
  ("(relativeY(agent1 agent2) 4)" 1919 1926)
  ("(relativeY(agent1 agent2) 2)" 2008 2051)
  ("(relativeY(agent1 agent2) 3)" 2051 2113)
  ("(relativeY(agent1 agent2) 2)" 2113 2372)
  ("(relativeY(agent1 agent2) up)" 1862 1926)
  ("(relativeY(agent1 agent2) down)" 2009 2083)
  ("(relativeY(agent1 agent2) stable)" 2083 2089)
  ("(relativeY(agent1 agent2) up)" 2089 2170)
  ("(relativeY(agent1 agent2) stable)" 2170 2186)
  ("(relativeY(agent1 agent2) down)" 2186 2284)
  ("(relativeY(agent1 agent2) stable)" 2284 2301)
  ("(relativeY(agent1 agent2) up)" 2301 2347)
  ("(relativeY(agent1 agent2) stable)" 2347 2366)
  ("(relativeY(agent1 agent2) down)" 2366 2372)
  ("(x(wall1) 3)" 590 996)
  ("(x(wall1) stable)" 591 996)
  ("(y(wall1) 3)" 590 996)
  ("(y(wall1) stable)" 591 996)
  ("(speed(wall1) 3)" 590 996)
  ("(speed(wall1) stable)" 591 996)
  ("(heading(wall1) 3)" 615 971)
  ("(heading(wall1) stable)" 616 971)
  ("novel(agent1 wall1)" 566 645)
  ("(distance(agent1 wall1) 1)" 590 683)
  ("(distance(agent1 wall1) 2)" 683 726)
  ("(distance(agent1 wall1) 3)" 726 771)
  ("(distance(agent1 wall1) 4)" 771 857)
  ("(distance(agent1 wall1) 5)" 857 959)
  ("(distance(agent1 wall1) 4)" 959 996)
  ("(distance(agent1 wall1) down)" 591 895)
  ("(distance(agent1 wall1) stable)" 895 922)
  ("(distance(agent1 wall1) up)" 922 996)
  ("(relativeX(agent1 wall1) 1)" 590 683)
  ("(relativeX(agent1 wall1) 2)" 683 726)
  ("(relativeX(agent1 wall1) 3)" 726 771)
  ("(relativeX(agent1 wall1) 4)" 771 857)
  ("(relativeX(agent1 wall1) 5)" 857 959)
  ("(relativeX(agent1 wall1) 4)" 959 996)
  ("(relativeX(agent1 wall1) down)" 591 895)
  ("(relativeX(agent1 wall1) stable)" 895 922)
  ("(relativeX(agent1 wall1) up)" 922 996)
  ("(relativeY(agent1 wall1) 1)" 590 703)
  ("(relativeY(agent1 wall1) 2)" 703 778)
  ("(relativeY(agent1 wall1) 3)" 778 832)
  ("(relativeY(agent1 wall1) 4)" 832 892)
  ("(relativeY(agent1 wall1) 5)" 892 996)
  ("(relativeY(agent1 wall1) down)" 591 996)
  ("(x(wall2) 3)" 1680 1919)
  ("(x(wall2) stable)" 1681 1919)
  ("(y(wall2) 3)" 1680 1919)
  ("(y(wall2) stable)" 1681 1919)
  ("(speed(wall2) 3)" 1680 1919)
  ("(speed(wall2) stable)" 1681 1919)
  ("(heading(wall2) 3)" 1705 1894)
  ("(heading(wall2) stable)" 1706 1894)
  ("novel(agent1 wall2)" 1656 1736)
  ("(distance(agent1 wall2) 1)" 1680 1739)
  ("(distance(agent1 wall2) 2)" 1739 1773)
  ("(distance(agent1 wall2) 3)" 1773 1805)
  ("(distance(agent1 wall2) 4)" 1805 1848)
  ("(distance(agent1 wall2) 5)" 1848 1919)
  ("(distance(agent1 wall2) down)" 1681 1917)
  ("(distance(agent1 wall2) stable)" 1917 1918)
  ("(distance(agent1 wall2) down)" 1918 1919)
  ("(relativeX(agent1 wall2) 5)" 1680 1739)
  ("(relativeX(agent1 wall2) 4)" 1739 1773)
  ("(relativeX(agent1 wall2) 3)" 1773 1805)
  ("(relativeX(agent1 wall2) 2)" 1805 1848)
  ("(relativeX(agent1 wall2) 1)" 1848 1919)
  ("(relativeX(agent1 wall2) up)" 1681 1917)
  ("(relativeX(agent1 wall2) stable)" 1917 1918)
  ("(relativeX(agent1 wall2) up)" 1918 1919)
  ("(relativeY(agent1 wall2) 5)" 1680 1744)
  ("(relativeY(agent1 wall2) 4)" 1744 1790)
  ("(relativeY(agent1 wall2) 3)" 1790 1823)
  ("(relativeY(agent1 wall2) 2)" 1823 1860)
  ("(relativeY(agent1 wall2) 1)" 1860 1919)
  ("(relativeY(agent1 wall2) up)" 1681 1919)
  ("novel(agent1 wall3)" 1272 1355)
  ("(x(wall4) 3)" 316 478)
  ("(x(wall4) stable)" 317 478)
  ("(y(wall4) 3)" 316 478)
  ("(y(wall4) stable)" 317 478)
  ("(speed(wall4) 3)" 316 478)
  ("(speed(wall4) stable)" 317 478)
  ("(heading(wall4) 3)" 341 453)
  ("(heading(wall4) stable)" 342 453)
  ("novel(agent1 wall4)" 292 373)
  ("(distance(agent1 wall4) 1)" 316 355)
  ("(distance(agent1 wall4) 2)" 355 378)
  ("(distance(agent1 wall4) 3)" 378 400)
  ("(distance(agent1 wall4) 4)" 400 433)
  ("(distance(agent1 wall4) 5)" 433 478)
  ("(distance(agent1 wall4) down)" 317 478)
  ("(relativeX(agent1 wall4) 1)" 316 358)
  ("(relativeX(agent1 wall4) 2)" 358 387)
  ("(relativeX(agent1 wall4) 3)" 387 410)
  ("(relativeX(agent1 wall4) 4)" 410 437)
  ("(relativeX(agent1 wall4) 5)" 437 478)
  ("(relativeX(agent1 wall4) down)" 317 478)
  ("(relativeY(agent1 wall4) 5)" 316 355)
  ("(relativeY(agent1 wall4) 4)" 355 378)
  ("(relativeY(agent1 wall4) 3)" 378 400)
  ("(relativeY(agent1 wall4) 2)" 400 433)
  ("(relativeY(agent1 wall4) 1)" 433 478)
  ("(relativeY(agent1 wall4) up)" 317 478)
 ))
(13
 (
  ("(x(agent1) 1)" 25 476)
  ("(x(agent1) 2)" 476 585)
  ("(x(agent1) 3)" 585 707)
  ("(x(agent1) 4)" 707 2067)
  ("(x(agent1) stable)" 26 148)
  ("(x(agent1) down)" 148 881)
  ("(x(agent1) stable)" 881 900)
  ("(x(agent1) up)" 900 948)
  ("(x(agent1) stable)" 948 1261)
  ("(x(agent1) up)" 1261 1278)
  ("(x(agent1) stable)" 1278 1302)
  ("(x(agent1) down)" 1302 1319)
  ("(x(agent1) stable)" 1319 1349)
  ("(x(agent1) up)" 1349 1365)
  ("(x(agent1) stable)" 1365 1389)
  ("(x(agent1) down)" 1389 1406)
  ("(x(agent1) stable)" 1406 1437)
  ("(x(agent1) up)" 1437 1450)
  ("(x(agent1) stable)" 1450 1473)
  ("(x(agent1) down)" 1473 1488)
  ("(x(agent1) stable)" 1488 1515)
  ("(x(agent1) up)" 1515 1545)
  ("(x(agent1) stable)" 1545 1565)
  ("(x(agent1) down)" 1565 1594)
  ("(x(agent1) stable)" 1594 1614)
  ("(x(agent1) up)" 1614 1647)
  ("(x(agent1) stable)" 1647 1666)
  ("(x(agent1) down)" 1666 1699)
  ("(x(agent1) stable)" 1699 1723)
  ("(x(agent1) up)" 1723 1738)
  ("(x(agent1) stable)" 1738 1759)
  ("(x(agent1) down)" 1759 1778)
  ("(x(agent1) stable)" 1778 1804)
  ("(x(agent1) up)" 1804 1824)
  ("(x(agent1) stable)" 1824 1843)
  ("(x(agent1) down)" 1843 1864)
  ("(x(agent1) stable)" 1864 1883)
  ("(x(agent1) up)" 1883 1919)
  ("(x(agent1) stable)" 1919 1934)
  ("(x(agent1) down)" 1934 1969)
  ("(x(agent1) stable)" 1969 1984)
  ("(x(agent1) up)" 1984 2020)
  ("(x(agent1) stable)" 2020 2036)
  ("(x(agent1) down)" 2036 2067)
  ("(y(agent1) 5)" 25 431)
  ("(y(agent1) 4)" 431 634)
  ("(y(agent1) 3)" 634 727)
  ("(y(agent1) 2)" 727 2067)
  ("(y(agent1) up)" 26 848)
  ("(y(agent1) stable)" 848 888)
  ("(y(agent1) down)" 888 905)
  ("(y(agent1) stable)" 905 938)
  ("(y(agent1) up)" 938 996)
  ("(y(agent1) stable)" 996 2067)
  ("(speed(agent1) 4)" 25 36)
  ("(speed(agent1) 3)" 36 53)
  ("(speed(agent1) 2)" 53 88)
  ("(speed(agent1) 1)" 88 754)
  ("(speed(agent1) 2)" 754 775)
  ("(speed(agent1) 3)" 775 818)
  ("(speed(agent1) 2)" 818 847)
  ("(speed(agent1) 3)" 847 865)
  ("(speed(agent1) 4)" 865 972)
  ("(speed(agent1) 5)" 972 1245)
  ("(speed(agent1) 4)" 1245 1261)
  ("(speed(agent1) 5)" 1261 1317)
  ("(speed(agent1) 4)" 1317 1352)
  ("(speed(agent1) 5)" 1352 1403)
  ("(speed(agent1) 4)" 1403 1437)
  ("(speed(agent1) 5)" 1437 1491)
  ("(speed(agent1) 4)" 1491 1533)
  ("(speed(agent1) 5)" 1533 1571)
  ("(speed(agent1) 4)" 1571 1641)
  ("(speed(agent1) 5)" 1641 1672)
  ("(speed(agent1) 4)" 1672 1726)
  ("(speed(agent1) 5)" 1726 1773)
  ("(speed(agent1) 4)" 1773 1812)
  ("(speed(agent1) 5)" 1812 1829)
  ("(speed(agent1) 4)" 1829 1878)
  ("(speed(agent1) 3)" 1878 1889)
  ("(speed(agent1) 4)" 1889 1961)
  ("(speed(agent1) 3)" 1961 1993)
  ("(speed(agent1) 4)" 1993 2062)
  ("(speed(agent1) 3)" 2062 2067)
  ("(speed(agent1) up)" 26 202)
  ("(speed(agent1) stable)" 202 727)
  ("(speed(agent1) down)" 727 791)
  ("(speed(agent1) stable)" 791 792)
  ("(speed(agent1) up)" 792 835)
  ("(speed(agent1) stable)" 835 836)
  ("(speed(agent1) down)" 836 892)
  ("(speed(agent1) stable)" 892 893)
  ("(speed(agent1) up)" 893 928)
  ("(speed(agent1) stable)" 928 930)
  ("(speed(agent1) down)" 930 980)
  ("(speed(agent1) stable)" 980 982)
  ("(speed(agent1) up)" 982 985)
  ("(speed(agent1) stable)" 985 986)
  ("(speed(agent1) down)" 986 1011)
  ("(speed(agent1) stable)" 1011 1012)
  ("(speed(agent1) up)" 1012 1022)
  ("(speed(agent1) down)" 1022 1037)
  ("(speed(agent1) up)" 1037 1052)
  ("(speed(agent1) stable)" 1052 1053)
  ("(speed(agent1) down)" 1053 1073)
  ("(speed(agent1) up)" 1073 1082)
  ("(speed(agent1) down)" 1082 1093)
  ("(speed(agent1) stable)" 1093 1094)
  ("(speed(agent1) up)" 1094 1112)
  ("(speed(agent1) stable)" 1112 1113)
  ("(speed(agent1) down)" 1113 1133)
  ("(speed(agent1) up)" 1133 1152)
  ("(speed(agent1) down)" 1152 1159)
  ("(speed(agent1) stable)" 1159 1160)
  ("(speed(agent1) up)" 1160 1179)
  ("(speed(agent1) stable)" 1179 1180)
  ("(speed(agent1) down)" 1180 1203)
  ("(speed(agent1) up)" 1203 1218)
  ("(speed(agent1) down)" 1218 1227)
  ("(speed(agent1) stable)" 1227 1228)
  ("(speed(agent1) up)" 1228 1253)
  ("(speed(agent1) stable)" 1253 1254)
  ("(speed(agent1) down)" 1254 1270)
  ("(speed(agent1) stable)" 1270 1297)
  ("(speed(agent1) up)" 1297 1306)
  ("(speed(agent1) down)" 1306 1308)
  ("(speed(agent1) stable)" 1308 1309)
  ("(speed(agent1) up)" 1309 1337)
  ("(speed(agent1) down)" 1337 1383)
  ("(speed(agent1) up)" 1383 1392)
  ("(speed(agent1) down)" 1392 1394)
  ("(speed(agent1) stable)" 1394 1395)
  ("(speed(agent1) up)" 1395 1422)
  ("(speed(agent1) down)" 1422 1443)
  ("(speed(agent1) stable)" 1443 1468)
  ("(speed(agent1) up)" 1468 1475)
  ("(speed(agent1) down)" 1475 1479)
  ("(speed(agent1) stable)" 1479 1480)
  ("(speed(agent1) up)" 1480 1512)
  ("(speed(agent1) stable)" 1512 1513)
  ("(speed(agent1) down)" 1513 1560)
  ("(speed(agent1) stable)" 1560 1561)
  ("(speed(agent1) up)" 1561 1610)
  ("(speed(agent1) stable)" 1610 1611)
  ("(speed(agent1) down)" 1611 1661)
  ("(speed(agent1) stable)" 1661 1662)
  ("(speed(agent1) up)" 1662 1706)
  ("(speed(agent1) stable)" 1706 1707)
  ("(speed(agent1) down)" 1707 1737)
  ("(speed(agent1) stable)" 1737 1755)
  ("(speed(agent1) up)" 1755 1763)
  ("(speed(agent1) down)" 1763 1765)
  ("(speed(agent1) stable)" 1765 1766)
  ("(speed(agent1) up)" 1766 1796)
  ("(speed(agent1) down)" 1796 1814)
  ("(speed(agent1) stable)" 1814 1817)
  ("(speed(agent1) up)" 1817 1847)
  ("(speed(agent1) down)" 1847 1851)
  ("(speed(agent1) up)" 1851 1883)
  ("(speed(agent1) stable)" 1883 1884)
  ("(speed(agent1) down)" 1884 1931)
  ("(speed(agent1) stable)" 1931 1932)
  ("(speed(agent1) up)" 1932 1981)
  ("(speed(agent1) stable)" 1981 1982)
  ("(speed(agent1) down)" 1982 2032)
  ("(speed(agent1) stable)" 2032 2033)
  ("(speed(agent1) up)" 2033 2067)
  ("(heading(agent1) 5)" 50 267)
  ("(heading(agent1) 4)" 267 332)
  ("(heading(agent1) 3)" 332 389)
  ("(heading(agent1) 2)" 389 462)
  ("(heading(agent1) 3)" 462 521)
  ("(heading(agent1) 4)" 521 591)
  ("(heading(agent1) 5)" 591 825)
  ("(heading(agent1) 4)" 825 858)
  ("(heading(agent1) 3)" 858 883)
  ("(heading(agent1) 2)" 883 980)
  ("(heading(agent1) 1)" 980 1101)
  ("(heading(agent1) 2)" 1101 2042)
  ("(heading(agent1) up)" 51 413)
  ("(heading(agent1) stable)" 413 439)
  ("(heading(agent1) down)" 439 717)
  ("(heading(agent1) stable)" 717 728)
  ("(heading(agent1) up)" 728 950)
  ("(heading(agent1) stable)" 950 968)
  ("(heading(agent1) up)" 968 1026)
  ("(heading(agent1) stable)" 1026 1032)
  ("(heading(agent1) down)" 1032 1130)
  ("(heading(agent1) stable)" 1130 2042)
  ("(energy(agent1) 2)" 25 1184)
  ("(energy(agent1) 3)" 1184 1355)
  ("(energy(agent1) 4)" 1355 1598)
  ("(energy(agent1) 5)" 1598 2067)
  ("(energy(agent1) stable)" 26 957)
  ("(energy(agent1) down)" 957 1008)
  ("(energy(agent1) stable)" 1008 1023)
  ("(energy(agent1) down)" 1023 1074)
  ("(energy(agent1) stable)" 1074 1083)
  ("(energy(agent1) down)" 1083 1134)
  ("(energy(agent1) stable)" 1134 1153)
  ("(energy(agent1) down)" 1153 1204)
  ("(energy(agent1) stable)" 1204 1219)
  ("(energy(agent1) down)" 1219 1270)
  ("(energy(agent1) stable)" 1270 1307)
  ("(energy(agent1) down)" 1307 1358)
  ("(energy(agent1) stable)" 1358 1393)
  ("(energy(agent1) down)" 1393 1444)
  ("(energy(agent1) stable)" 1444 1476)
  ("(energy(agent1) down)" 1476 1527)
  ("(energy(agent1) stable)" 1527 1576)
  ("(energy(agent1) down)" 1576 1627)
  ("(energy(agent1) stable)" 1627 1680)
  ("(energy(agent1) down)" 1680 1731)
  ("(energy(agent1) stable)" 1731 1764)
  ("(energy(agent1) down)" 1764 1815)
  ("(energy(agent1) stable)" 1815 1848)
  ("(energy(agent1) down)" 1848 1899)
  ("(energy(agent1) stable)" 1899 1948)
  ("(energy(agent1) down)" 1948 1999)
  ("(energy(agent1) stable)" 1999 2051)
  ("(energy(agent1) down)" 2051 2067)
  ("(arousal(agent1) 4)" 25 283)
  ("(arousal(agent1) 5)" 283 960)
  ("(arousal(agent1) 4)" 960 1045)
  ("(arousal(agent1) 3)" 1045 1116)
  ("(arousal(agent1) 2)" 1116 1261)
  ("(arousal(agent1) 1)" 1261 1293)
  ("(arousal(agent1) 2)" 1293 1308)
  ("(arousal(agent1) 1)" 1308 2067)
  ("(arousal(agent1) down)" 26 570)
  ("(arousal(agent1) stable)" 570 592)
  ("(arousal(agent1) up)" 592 667)
  ("(arousal(agent1) stable)" 667 688)
  ("(arousal(agent1) down)" 688 822)
  ("(arousal(agent1) stable)" 822 838)
  ("(arousal(agent1) up)" 838 1133)
  ("(arousal(agent1) stable)" 1133 1137)
  ("(arousal(agent1) down)" 1137 1152)
  ("(arousal(agent1) up)" 1152 1203)
  ("(arousal(agent1) down)" 1203 1218)
  ("(arousal(agent1) up)" 1218 1269)
  ("(arousal(agent1) down)" 1269 1306)
  ("(arousal(agent1) up)" 1306 1357)
  ("(arousal(agent1) down)" 1357 1392)
  ("(arousal(agent1) up)" 1392 1443)
  ("(arousal(agent1) down)" 1443 1475)
  ("(arousal(agent1) stable)" 1475 1526)
  ("(arousal(agent1) down)" 1526 1575)
  ("(arousal(agent1) up)" 1575 1626)
  ("(arousal(agent1) down)" 1626 1679)
  ("(arousal(agent1) up)" 1679 1730)
  ("(arousal(agent1) down)" 1730 1763)
  ("(arousal(agent1) stable)" 1763 1764)
  ("(arousal(agent1) up)" 1764 1765)
  ("(arousal(agent1) stable)" 1765 1766)
  ("(arousal(agent1) up)" 1766 1767)
  ("(arousal(agent1) stable)" 1767 1768)
  ("(arousal(agent1) up)" 1768 1769)
  ("(arousal(agent1) stable)" 1769 1770)
  ("(arousal(agent1) up)" 1770 1771)
  ("(arousal(agent1) stable)" 1771 1772)
  ("(arousal(agent1) up)" 1772 1773)
  ("(arousal(agent1) stable)" 1773 1774)
  ("(arousal(agent1) up)" 1774 1775)
  ("(arousal(agent1) stable)" 1775 1776)
  ("(arousal(agent1) up)" 1776 1777)
  ("(arousal(agent1) stable)" 1777 1778)
  ("(arousal(agent1) up)" 1778 1779)
  ("(arousal(agent1) stable)" 1779 1780)
  ("(arousal(agent1) up)" 1780 1781)
  ("(arousal(agent1) stable)" 1781 1782)
  ("(arousal(agent1) up)" 1782 1783)
  ("(arousal(agent1) stable)" 1783 1784)
  ("(arousal(agent1) up)" 1784 1785)
  ("(arousal(agent1) stable)" 1785 1786)
  ("(arousal(agent1) up)" 1786 1787)
  ("(arousal(agent1) stable)" 1787 1788)
  ("(arousal(agent1) up)" 1788 1789)
  ("(arousal(agent1) stable)" 1789 1790)
  ("(arousal(agent1) up)" 1790 1791)
  ("(arousal(agent1) stable)" 1791 1792)
  ("(arousal(agent1) up)" 1792 1793)
  ("(arousal(agent1) stable)" 1793 1794)
  ("(arousal(agent1) up)" 1794 1795)
  ("(arousal(agent1) stable)" 1795 1796)
  ("(arousal(agent1) up)" 1796 1797)
  ("(arousal(agent1) stable)" 1797 1798)
  ("(arousal(agent1) up)" 1798 1799)
  ("(arousal(agent1) stable)" 1799 1800)
  ("(arousal(agent1) up)" 1800 1801)
  ("(arousal(agent1) stable)" 1801 1802)
  ("(arousal(agent1) up)" 1802 1803)
  ("(arousal(agent1) stable)" 1803 1804)
  ("(arousal(agent1) up)" 1804 1805)
  ("(arousal(agent1) stable)" 1805 1806)
  ("(arousal(agent1) up)" 1806 1807)
  ("(arousal(agent1) stable)" 1807 1808)
  ("(arousal(agent1) up)" 1808 1809)
  ("(arousal(agent1) stable)" 1809 1810)
  ("(arousal(agent1) up)" 1810 1811)
  ("(arousal(agent1) stable)" 1811 1812)
  ("(arousal(agent1) up)" 1812 1813)
  ("(arousal(agent1) stable)" 1813 1814)
  ("(arousal(agent1) down)" 1814 1847)
  ("(arousal(agent1) stable)" 1847 1848)
  ("(arousal(agent1) up)" 1848 1849)
  ("(arousal(agent1) stable)" 1849 1850)
  ("(arousal(agent1) up)" 1850 1851)
  ("(arousal(agent1) stable)" 1851 1852)
  ("(arousal(agent1) up)" 1852 1853)
  ("(arousal(agent1) stable)" 1853 1854)
  ("(arousal(agent1) up)" 1854 1855)
  ("(arousal(agent1) stable)" 1855 1856)
  ("(arousal(agent1) up)" 1856 1857)
  ("(arousal(agent1) stable)" 1857 1858)
  ("(arousal(agent1) up)" 1858 1898)
  ("(arousal(agent1) stable)" 1898 2067)
  ("(valence(agent1) 5)" 25 978)
  ("(valence(agent1) 4)" 978 1085)
  ("(valence(agent1) 3)" 1085 1129)
  ("(valence(agent1) 2)" 1129 1151)
  ("(valence(agent1) 3)" 1151 1152)
  ("(valence(agent1) 2)" 1152 1197)
  ("(valence(agent1) 1)" 1197 2067)
  ("(valence(agent1) stable)" 26 956)
  ("(valence(agent1) up)" 956 1007)
  ("(valence(agent1) down)" 1007 1022)
  ("(valence(agent1) up)" 1022 1073)
  ("(valence(agent1) down)" 1073 1082)
  ("(valence(agent1) up)" 1082 1133)
  ("(valence(agent1) down)" 1133 1152)
  ("(valence(agent1) up)" 1152 1203)
  ("(valence(agent1) down)" 1203 1218)
  ("(valence(agent1) up)" 1218 1269)
  ("(valence(agent1) down)" 1269 1306)
  ("(valence(agent1) up)" 1306 1357)
  ("(valence(agent1) down)" 1357 1392)
  ("(valence(agent1) up)" 1392 1443)
  ("(valence(agent1) down)" 1443 1475)
  ("(valence(agent1) up)" 1475 1526)
  ("(valence(agent1) down)" 1526 1575)
  ("(valence(agent1) up)" 1575 1626)
  ("(valence(agent1) down)" 1626 1679)
  ("(valence(agent1) up)" 1679 1730)
  ("(valence(agent1) down)" 1730 1763)
  ("(valence(agent1) up)" 1763 1814)
  ("(valence(agent1) down)" 1814 1847)
  ("(valence(agent1) up)" 1847 1898)
  ("(valence(agent1) down)" 1898 1947)
  ("(valence(agent1) up)" 1947 1998)
  ("(valence(agent1) down)" 1998 2050)
  ("(valence(agent1) up)" 2050 2067)
  ("(goal(agent1) WanderGoal)" 0 855)
  ("(goal(agent1) PursueGoal)" 855 2092)
  ("(state(agent1) wander)" 0 855)
  ("(state(agent1) charge)" 855 981)
  ("(state(agent1) back-away)" 981 1007)
  ("(state(agent1) charge)" 1007 1047)
  ("(state(agent1) back-away)" 1047 1064)
  ("(state(agent1) charge)" 1064 1106)
  ("(state(agent1) back-away)" 1106 1126)
  ("(state(agent1) charge)" 1126 1176)
  ("(state(agent1) back-away)" 1176 1194)
  ("(state(agent1) charge)" 1194 1243)
  ("(state(agent1) back-away)" 1243 1269)
  ("(state(agent1) charge)" 1269 1330)
  ("(state(agent1) back-away)" 1330 1355)
  ("(state(agent1) charge)" 1355 1416)
  ("(state(agent1) back-away)" 1416 1440)
  ("(state(agent1) charge)" 1440 1500)
  ("(state(agent1) back-away)" 1500 1531)
  ("(state(agent1) charge)" 1531 1599)
  ("(state(agent1) back-away)" 1599 1631)
  ("(state(agent1) charge)" 1631 1703)
  ("(state(agent1) back-away)" 1703 1727)
  ("(state(agent1) charge)" 1727 1787)
  ("(state(agent1) back-away)" 1787 1814)
  ("(state(agent1) charge)" 1814 1871)
  ("(state(agent1) back-away)" 1871 1902)
  ("(state(agent1) charge)" 1902 1971)
  ("(state(agent1) back-away)" 1971 2002)
  ("(state(agent1) charge)" 2002 2074)
  ("(state(agent1) back-away)" 2074 2092)
  ("(x(agent2) 1)" 960 1125)
  ("(x(agent2) 2)" 1125 1165)
  ("(x(agent2) 1)" 1165 1195)
  ("(x(agent2) 2)" 1195 1231)
  ("(x(agent2) 1)" 1231 1255)
  ("(x(agent2) 2)" 1255 1270)
  ("(x(agent2) 3)" 1270 1284)
  ("(x(agent2) 4)" 1284 1298)
  ("(x(agent2) 3)" 1298 1311)
  ("(x(agent2) 2)" 1311 1355)
  ("(x(agent2) 3)" 1355 1367)
  ("(x(agent2) 4)" 1367 1387)
  ("(x(agent2) 3)" 1387 1399)
  ("(x(agent2) 2)" 1399 1441)
  ("(x(agent2) 3)" 1441 1455)
  ("(x(agent2) 4)" 1455 1469)
  ("(x(agent2) 3)" 1469 1482)
  ("(x(agent2) 2)" 1482 1521)
  ("(x(agent2) 3)" 1521 1529)
  ("(x(agent2) 4)" 1529 1540)
  ("(x(agent2) 5)" 1540 1569)
  ("(x(agent2) 4)" 1569 1579)
  ("(x(agent2) 3)" 1579 1588)
  ("(x(agent2) 2)" 1588 1618)
  ("(x(agent2) 3)" 1618 1625)
  ("(x(agent2) 4)" 1625 1634)
  ("(x(agent2) 5)" 1634 1677)
  ("(x(agent2) 4)" 1677 1686)
  ("(x(agent2) 3)" 1686 1695)
  ("(x(agent2) 2)" 1695 1723)
  ("(x(agent2) 3)" 1723 1734)
  ("(x(agent2) 4)" 1734 1764)
  ("(x(agent2) 3)" 1764 1775)
  ("(x(agent2) 2)" 1775 1805)
  ("(x(agent2) 3)" 1805 1815)
  ("(x(agent2) 4)" 1815 1831)
  ("(x(agent2) 5)" 1831 1839)
  ("(x(agent2) 4)" 1839 1854)
  ("(x(agent2) 3)" 1854 1870)
  ("(x(agent2) 2)" 1870 1876)
  ("(x(agent2) 3)" 1876 1889)
  ("(x(agent2) 4)" 1889 1897)
  ("(x(agent2) 5)" 1897 1956)
  ("(x(agent2) 4)" 1956 1966)
  ("(x(agent2) 3)" 1966 1986)
  ("(x(agent2) 4)" 1986 1995)
  ("(x(agent2) 5)" 1995 2060)
  ("(x(agent2) 4)" 2060 2067)
  ("(x(agent2) down)" 961 966)
  ("(x(agent2) stable)" 966 967)
  ("(x(agent2) up)" 967 986)
  ("(x(agent2) stable)" 986 988)
  ("(x(agent2) down)" 988 1032)
  ("(x(agent2) stable)" 1032 1039)
  ("(x(agent2) down)" 1039 1078)
  ("(x(agent2) stable)" 1078 1079)
  ("(x(agent2) up)" 1079 1104)
  ("(x(agent2) stable)" 1104 1106)
  ("(x(agent2) down)" 1106 1145)
  ("(x(agent2) stable)" 1145 1146)
  ("(x(agent2) up)" 1146 1179)
  ("(x(agent2) stable)" 1179 1180)
  ("(x(agent2) down)" 1180 1212)
  ("(x(agent2) stable)" 1212 1213)
  ("(x(agent2) up)" 1213 1244)
  ("(x(agent2) down)" 1244 1292)
  ("(x(agent2) up)" 1292 1334)
  ("(x(agent2) down)" 1334 1378)
  ("(x(agent2) stable)" 1378 1379)
  ("(x(agent2) up)" 1379 1420)
  ("(x(agent2) stable)" 1420 1421)
  ("(x(agent2) down)" 1421 1463)
  ("(x(agent2) up)" 1463 1503)
  ("(x(agent2) stable)" 1503 1504)
  ("(x(agent2) down)" 1504 1555)
  ("(x(agent2) stable)" 1555 1556)
  ("(x(agent2) up)" 1556 1604)
  ("(x(agent2) down)" 1604 1656)
  ("(x(agent2) stable)" 1656 1657)
  ("(x(agent2) up)" 1657 1709)
  ("(x(agent2) down)" 1709 1750)
  ("(x(agent2) up)" 1750 1791)
  ("(x(agent2) down)" 1791 1835)
  ("(x(agent2) stable)" 1835 1836)
  ("(x(agent2) up)" 1836 1873)
  ("(x(agent2) stable)" 1873 1874)
  ("(x(agent2) down)" 1874 1927)
  ("(x(agent2) up)" 1927 1976)
  ("(x(agent2) stable)" 1976 1977)
  ("(x(agent2) down)" 1977 2028)
  ("(x(agent2) stable)" 2028 2029)
  ("(x(agent2) up)" 2029 2067)
  ("(y(agent2) 5)" 960 1048)
  ("(y(agent2) 4)" 1048 1059)
  ("(y(agent2) 3)" 1059 1075)
  ("(y(agent2) 2)" 1075 1201)
  ("(y(agent2) 1)" 1201 1227)
  ("(y(agent2) 2)" 1227 1258)
  ("(y(agent2) 1)" 1258 1322)
  ("(y(agent2) 2)" 1322 1347)
  ("(y(agent2) 1)" 1347 1398)
  ("(y(agent2) 2)" 1398 1677)
  ("(y(agent2) 3)" 1677 1785)
  ("(y(agent2) 4)" 1785 1812)
  ("(y(agent2) 3)" 1812 1840)
  ("(y(agent2) 4)" 1840 1967)
  ("(y(agent2) 5)" 1967 1997)
  ("(y(agent2) 4)" 1997 2040)
  ("(y(agent2) 5)" 2040 2067)
  ("(y(agent2) down)" 961 993)
  ("(y(agent2) stable)" 993 994)
  ("(y(agent2) up)" 994 1212)
  ("(y(agent2) stable)" 1212 1216)
  ("(y(agent2) down)" 1216 1241)
  ("(y(agent2) stable)" 1241 1247)
  ("(y(agent2) up)" 1247 1290)
  ("(y(agent2) stable)" 1290 1293)
  ("(y(agent2) down)" 1293 1333)
  ("(y(agent2) stable)" 1333 1337)
  ("(y(agent2) up)" 1337 1374)
  ("(y(agent2) stable)" 1374 1377)
  ("(y(agent2) down)" 1377 1423)
  ("(y(agent2) stable)" 1423 1428)
  ("(y(agent2) up)" 1428 1456)
  ("(y(agent2) stable)" 1456 1460)
  ("(y(agent2) down)" 1460 1507)
  ("(y(agent2) stable)" 1507 1511)
  ("(y(agent2) up)" 1511 1548)
  ("(y(agent2) stable)" 1548 1552)
  ("(y(agent2) down)" 1552 1607)
  ("(y(agent2) stable)" 1607 1611)
  ("(y(agent2) up)" 1611 1648)
  ("(y(agent2) stable)" 1648 1652)
  ("(y(agent2) down)" 1652 1713)
  ("(y(agent2) stable)" 1713 1719)
  ("(y(agent2) up)" 1719 1740)
  ("(y(agent2) stable)" 1740 1745)
  ("(y(agent2) down)" 1745 1796)
  ("(y(agent2) stable)" 1796 1801)
  ("(y(agent2) up)" 1801 1825)
  ("(y(agent2) stable)" 1825 1830)
  ("(y(agent2) down)" 1830 1878)
  ("(y(agent2) stable)" 1878 1882)
  ("(y(agent2) up)" 1882 1917)
  ("(y(agent2) stable)" 1917 1921)
  ("(y(agent2) down)" 1921 1980)
  ("(y(agent2) stable)" 1980 1984)
  ("(y(agent2) up)" 1984 2019)
  ("(y(agent2) stable)" 2019 2023)
  ("(y(agent2) down)" 2023 2067)
  ("(speed(agent2) 4)" 960 964)
  ("(speed(agent2) 5)" 964 1015)
  ("(speed(agent2) 4)" 1015 1044)
  ("(speed(agent2) 3)" 1044 1045)
  ("(speed(agent2) 4)" 1045 1059)
  ("(speed(agent2) 5)" 1059 1104)
  ("(speed(agent2) 4)" 1104 1122)
  ("(speed(agent2) 5)" 1122 1150)
  ("(speed(agent2) 4)" 1150 1152)
  ("(speed(agent2) 5)" 1152 1167)
  ("(speed(agent2) 4)" 1167 1175)
  ("(speed(agent2) 3)" 1175 1183)
  ("(speed(agent2) 4)" 1183 1193)
  ("(speed(agent2) 5)" 1193 1237)
  ("(speed(agent2) 4)" 1237 1244)
  ("(speed(agent2) 3)" 1244 1262)
  ("(speed(agent2) 4)" 1262 1268)
  ("(speed(agent2) 5)" 1268 1300)
  ("(speed(agent2) 4)" 1300 1315)
  ("(speed(agent2) 3)" 1315 1323)
  ("(speed(agent2) 2)" 1323 1334)
  ("(speed(agent2) 1)" 1334 1339)
  ("(speed(agent2) 2)" 1339 1348)
  ("(speed(agent2) 3)" 1348 1353)
  ("(speed(agent2) 4)" 1353 1380)
  ("(speed(agent2) 5)" 1380 1384)
  ("(speed(agent2) 4)" 1384 1402)
  ("(speed(agent2) 3)" 1402 1409)
  ("(speed(agent2) 2)" 1409 1433)
  ("(speed(agent2) 3)" 1433 1437)
  ("(speed(agent2) 4)" 1437 1450)
  ("(speed(agent2) 5)" 1450 1470)
  ("(speed(agent2) 4)" 1470 1489)
  ("(speed(agent2) 3)" 1489 1497)
  ("(speed(agent2) 2)" 1497 1508)
  ("(speed(agent2) 1)" 1508 1515)
  ("(speed(agent2) 2)" 1515 1524)
  ("(speed(agent2) 3)" 1524 1536)
  ("(speed(agent2) 4)" 1536 1570)
  ("(speed(agent2) 3)" 1570 1575)
  ("(speed(agent2) 2)" 1575 1588)
  ("(speed(agent2) 1)" 1588 1623)
  ("(speed(agent2) 2)" 1623 1632)
  ("(speed(agent2) 3)" 1632 1643)
  ("(speed(agent2) 4)" 1643 1671)
  ("(speed(agent2) 3)" 1671 1676)
  ("(speed(agent2) 2)" 1676 1684)
  ("(speed(agent2) 1)" 1684 1718)
  ("(speed(agent2) 2)" 1718 1723)
  ("(speed(agent2) 3)" 1723 1726)
  ("(speed(agent2) 4)" 1726 1772)
  ("(speed(agent2) 3)" 1772 1779)
  ("(speed(agent2) 2)" 1779 1789)
  ("(speed(agent2) 1)" 1789 1801)
  ("(speed(agent2) 2)" 1801 1808)
  ("(speed(agent2) 3)" 1808 1812)
  ("(speed(agent2) 4)" 1812 1836)
  ("(speed(agent2) 3)" 1836 1857)
  ("(speed(agent2) 2)" 1857 1863)
  ("(speed(agent2) 1)" 1863 1907)
  ("(speed(agent2) 2)" 1907 1922)
  ("(speed(agent2) 3)" 1922 1938)
  ("(speed(agent2) 2)" 1938 1943)
  ("(speed(agent2) 1)" 1943 2009)
  ("(speed(agent2) 2)" 2009 2022)
  ("(speed(agent2) 3)" 2022 2040)
  ("(speed(agent2) 2)" 2040 2045)
  ("(speed(agent2) 1)" 2045 2067)
  ("(speed(agent2) down)" 961 978)
  ("(speed(agent2) up)" 978 995)
  ("(speed(agent2) stable)" 995 996)
  ("(speed(agent2) down)" 996 1007)
  ("(speed(agent2) up)" 1007 1028)
  ("(speed(agent2) down)" 1028 1036)
  ("(speed(agent2) up)" 1036 1045)
  ("(speed(agent2) down)" 1045 1073)
  ("(speed(agent2) up)" 1073 1082)
  ("(speed(agent2) down)" 1082 1094)
  ("(speed(agent2) up)" 1094 1113)
  ("(speed(agent2) down)" 1113 1133)
  ("(speed(agent2) up)" 1133 1152)
  ("(speed(agent2) down)" 1152 1160)
  ("(speed(agent2) up)" 1160 1179)
  ("(speed(agent2) stable)" 1179 1180)
  ("(speed(agent2) down)" 1180 1203)
  ("(speed(agent2) up)" 1203 1218)
  ("(speed(agent2) down)" 1218 1227)
  ("(speed(agent2) stable)" 1227 1228)
  ("(speed(agent2) up)" 1228 1253)
  ("(speed(agent2) down)" 1253 1270)
  ("(speed(agent2) up)" 1270 1271)
  ("(speed(agent2) stable)" 1271 1276)
  ("(speed(agent2) down)" 1276 1281)
  ("(speed(agent2) stable)" 1281 1282)
  ("(speed(agent2) down)" 1282 1297)
  ("(speed(agent2) up)" 1297 1306)
  ("(speed(agent2) down)" 1306 1308)
  ("(speed(agent2) up)" 1308 1337)
  ("(speed(agent2) down)" 1337 1383)
  ("(speed(agent2) up)" 1383 1392)
  ("(speed(agent2) down)" 1392 1394)
  ("(speed(agent2) stable)" 1394 1395)
  ("(speed(agent2) up)" 1395 1422)
  ("(speed(agent2) down)" 1422 1467)
  ("(speed(agent2) stable)" 1467 1468)
  ("(speed(agent2) up)" 1468 1475)
  ("(speed(agent2) down)" 1475 1479)
  ("(speed(agent2) up)" 1479 1512)
  ("(speed(agent2) down)" 1512 1560)
  ("(speed(agent2) up)" 1560 1610)
  ("(speed(agent2) stable)" 1610 1611)
  ("(speed(agent2) down)" 1611 1661)
  ("(speed(agent2) up)" 1661 1706)
  ("(speed(agent2) down)" 1706 1755)
  ("(speed(agent2) up)" 1755 1763)
  ("(speed(agent2) down)" 1763 1766)
  ("(speed(agent2) up)" 1766 1796)
  ("(speed(agent2) down)" 1796 1819)
  ("(speed(agent2) stable)" 1819 1821)
  ("(speed(agent2) up)" 1821 1847)
  ("(speed(agent2) down)" 1847 1851)
  ("(speed(agent2) up)" 1851 1884)
  ("(speed(agent2) down)" 1884 1932)
  ("(speed(agent2) up)" 1932 1981)
  ("(speed(agent2) stable)" 1981 1982)
  ("(speed(agent2) down)" 1982 2032)
  ("(speed(agent2) stable)" 2032 2033)
  ("(speed(agent2) up)" 2033 2067)
  ("(heading(agent2) 3)" 985 995)
  ("(heading(agent2) 2)" 995 1002)
  ("(heading(agent2) 5)" 1002 1072)
  ("(heading(agent2) 2)" 1072 1090)
  ("(heading(agent2) 3)" 1090 1137)
  ("(heading(agent2) 2)" 1137 1247)
  ("(heading(agent2) 3)" 1247 1292)
  ("(heading(agent2) 2)" 1292 1312)
  ("(heading(agent2) 3)" 1312 1340)
  ("(heading(agent2) 2)" 1340 2042)
  ("(heading(agent2) up)" 986 1037)
  ("(heading(agent2) stable)" 1037 1041)
  ("(heading(agent2) down)" 1041 1102)
  ("(heading(agent2) stable)" 1102 1113)
  ("(heading(agent2) up)" 1113 1134)
  ("(heading(agent2) stable)" 1134 1177)
  ("(heading(agent2) down)" 1177 1182)
  ("(heading(agent2) stable)" 1182 1241)
  ("(heading(agent2) down)" 1241 1247)
  ("(heading(agent2) stable)" 1247 2042)
  ("heard(agent1 agent2)" 2042 2092)
  ("heard(agent1 agent2)" 1938 2011)
  ("heard(agent1 agent2)" 854 1912)
  ("novel(agent1 agent2)" 2043 2092)
  ("novel(agent1 agent2)" 1939 2011)
  ("novel(agent1 agent2)" 936 1004)
  ("novel(agent1 agent2)" 855 923)
  ("collision(agent1 agent2)" 2074 2076)
  ("collision(agent1 agent2)" 1971 1974)
  ("collision(agent1 agent2)" 1871 1874)
  ("collision(agent1 agent2)" 1787 1790)
  ("collision(agent1 agent2)" 1703 1706)
  ("collision(agent1 agent2)" 1599 1602)
  ("collision(agent1 agent2)" 1500 1501)
  ("collision(agent1 agent2)" 1416 1418)
  ("collision(agent1 agent2)" 1330 1333)
  ("collision(agent1 agent2)" 1243 1244)
  ("collision(agent1 agent2)" 1176 1179)
  ("collision(agent1 agent2)" 1106 1109)
  ("collision(agent1 agent2)" 1047 1048)
  ("collision(agent1 agent2)" 981 983)
  ("(distance(agent1 agent2) 1)" 879 899)
  ("(distance(agent1 agent2) 2)" 899 907)
  ("(distance(agent1 agent2) 3)" 907 914)
  ("(distance(agent1 agent2) 4)" 914 927)
  ("(distance(agent1 agent2) 5)" 927 1124)
  ("(distance(agent1 agent2) 4)" 1124 1166)
  ("(distance(agent1 agent2) 5)" 1166 1194)
  ("(distance(agent1 agent2) 4)" 1194 1231)
  ("(distance(agent1 agent2) 5)" 1231 1254)
  ("(distance(agent1 agent2) 4)" 1254 1268)
  ("(distance(agent1 agent2) 3)" 1268 1279)
  ("(distance(agent1 agent2) 2)" 1279 1303)
  ("(distance(agent1 agent2) 3)" 1303 1313)
  ("(distance(agent1 agent2) 4)" 1313 1354)
  ("(distance(agent1 agent2) 3)" 1354 1364)
  ("(distance(agent1 agent2) 2)" 1364 1391)
  ("(distance(agent1 agent2) 3)" 1391 1400)
  ("(distance(agent1 agent2) 4)" 1400 1440)
  ("(distance(agent1 agent2) 3)" 1440 1451)
  ("(distance(agent1 agent2) 2)" 1451 1473)
  ("(distance(agent1 agent2) 3)" 1473 1483)
  ("(distance(agent1 agent2) 4)" 1483 1521)
  ("(distance(agent1 agent2) 3)" 1521 1528)
  ("(distance(agent1 agent2) 2)" 1528 1536)
  ("(distance(agent1 agent2) 1)" 1536 1572)
  ("(distance(agent1 agent2) 2)" 1572 1580)
  ("(distance(agent1 agent2) 3)" 1580 1588)
  ("(distance(agent1 agent2) 4)" 1588 1618)
  ("(distance(agent1 agent2) 3)" 1618 1625)
  ("(distance(agent1 agent2) 2)" 1625 1632)
  ("(distance(agent1 agent2) 1)" 1632 1679)
  ("(distance(agent1 agent2) 2)" 1679 1686)
  ("(distance(agent1 agent2) 3)" 1686 1694)
  ("(distance(agent1 agent2) 4)" 1694 1725)
  ("(distance(agent1 agent2) 3)" 1725 1735)
  ("(distance(agent1 agent2) 2)" 1735 1763)
  ("(distance(agent1 agent2) 3)" 1763 1772)
  ("(distance(agent1 agent2) 4)" 1772 1808)
  ("(distance(agent1 agent2) 3)" 1808 1816)
  ("(distance(agent1 agent2) 2)" 1816 1831)
  ("(distance(agent1 agent2) 1)" 1831 1838)
  ("(distance(agent1 agent2) 2)" 1838 1851)
  ("(distance(agent1 agent2) 3)" 1851 1861)
  ("(distance(agent1 agent2) 4)" 1861 1885)
  ("(distance(agent1 agent2) 3)" 1885 1892)
  ("(distance(agent1 agent2) 2)" 1892 1899)
  ("(distance(agent1 agent2) 1)" 1899 1953)
  ("(distance(agent1 agent2) 2)" 1953 1960)
  ("(distance(agent1 agent2) 3)" 1960 1969)
  ("(distance(agent1 agent2) 4)" 1969 1983)
  ("(distance(agent1 agent2) 3)" 1983 1991)
  ("(distance(agent1 agent2) 2)" 1991 1998)
  ("(distance(agent1 agent2) 1)" 1998 2056)
  ("(distance(agent1 agent2) 2)" 2056 2064)
  ("(distance(agent1 agent2) 3)" 2064 2067)
  ("(distance(agent1 agent2) down)" 880 980)
  ("(distance(agent1 agent2) stable)" 980 982)
  ("(distance(agent1 agent2) up)" 982 1018)
  ("(distance(agent1 agent2) stable)" 1018 1019)
  ("(distance(agent1 agent2) down)" 1019 1043)
  ("(distance(agent1 agent2) stable)" 1043 1046)
  ("(distance(agent1 agent2) up)" 1046 1079)
  ("(distance(agent1 agent2) down)" 1079 1105)
  ("(distance(agent1 agent2) stable)" 1105 1106)
  ("(distance(agent1 agent2) up)" 1106 1145)
  ("(distance(agent1 agent2) stable)" 1145 1146)
  ("(distance(agent1 agent2) down)" 1146 1179)
  ("(distance(agent1 agent2) stable)" 1179 1181)
  ("(distance(agent1 agent2) up)" 1181 1212)
  ("(distance(agent1 agent2) stable)" 1212 1213)
  ("(distance(agent1 agent2) down)" 1213 1244)
  ("(distance(agent1 agent2) up)" 1244 1292)
  ("(distance(agent1 agent2) down)" 1292 1334)
  ("(distance(agent1 agent2) up)" 1334 1378)
  ("(distance(agent1 agent2) down)" 1378 1420)
  ("(distance(agent1 agent2) stable)" 1420 1421)
  ("(distance(agent1 agent2) up)" 1421 1463)
  ("(distance(agent1 agent2) down)" 1463 1503)
  ("(distance(agent1 agent2) stable)" 1503 1504)
  ("(distance(agent1 agent2) up)" 1504 1555)
  ("(distance(agent1 agent2) stable)" 1555 1556)
  ("(distance(agent1 agent2) down)" 1556 1604)
  ("(distance(agent1 agent2) up)" 1604 1656)
  ("(distance(agent1 agent2) stable)" 1656 1657)
  ("(distance(agent1 agent2) down)" 1657 1709)
  ("(distance(agent1 agent2) stable)" 1709 1710)
  ("(distance(agent1 agent2) up)" 1710 1750)
  ("(distance(agent1 agent2) down)" 1750 1791)
  ("(distance(agent1 agent2) up)" 1791 1835)
  ("(distance(agent1 agent2) down)" 1835 1874)
  ("(distance(agent1 agent2) up)" 1874 1927)
  ("(distance(agent1 agent2) down)" 1927 1976)
  ("(distance(agent1 agent2) stable)" 1976 1977)
  ("(distance(agent1 agent2) up)" 1977 2028)
  ("(distance(agent1 agent2) down)" 2028 2067)
  ("(relativeX(agent1 agent2) 5)" 960 1077)
  ("(relativeX(agent1 agent2) 4)" 1077 1080)
  ("(relativeX(agent1 agent2) 5)" 1080 1122)
  ("(relativeX(agent1 agent2) 4)" 1122 1168)
  ("(relativeX(agent1 agent2) 5)" 1168 1192)
  ("(relativeX(agent1 agent2) 4)" 1192 1233)
  ("(relativeX(agent1 agent2) 5)" 1233 1253)
  ("(relativeX(agent1 agent2) 4)" 1253 1268)
  ("(relativeX(agent1 agent2) 3)" 1268 1278)
  ("(relativeX(agent1 agent2) 2)" 1278 1303)
  ("(relativeX(agent1 agent2) 3)" 1303 1313)
  ("(relativeX(agent1 agent2) 4)" 1313 1354)
  ("(relativeX(agent1 agent2) 3)" 1354 1364)
  ("(relativeX(agent1 agent2) 2)" 1364 1391)
  ("(relativeX(agent1 agent2) 3)" 1391 1401)
  ("(relativeX(agent1 agent2) 4)" 1401 1440)
  ("(relativeX(agent1 agent2) 3)" 1440 1451)
  ("(relativeX(agent1 agent2) 2)" 1451 1473)
  ("(relativeX(agent1 agent2) 3)" 1473 1484)
  ("(relativeX(agent1 agent2) 4)" 1484 1520)
  ("(relativeX(agent1 agent2) 3)" 1520 1527)
  ("(relativeX(agent1 agent2) 2)" 1527 1536)
  ("(relativeX(agent1 agent2) 1)" 1536 1572)
  ("(relativeX(agent1 agent2) 2)" 1572 1580)
  ("(relativeX(agent1 agent2) 3)" 1580 1589)
  ("(relativeX(agent1 agent2) 4)" 1589 1618)
  ("(relativeX(agent1 agent2) 3)" 1618 1625)
  ("(relativeX(agent1 agent2) 2)" 1625 1632)
  ("(relativeX(agent1 agent2) 1)" 1632 1679)
  ("(relativeX(agent1 agent2) 2)" 1679 1686)
  ("(relativeX(agent1 agent2) 3)" 1686 1694)
  ("(relativeX(agent1 agent2) 4)" 1694 1725)
  ("(relativeX(agent1 agent2) 3)" 1725 1734)
  ("(relativeX(agent1 agent2) 2)" 1734 1763)
  ("(relativeX(agent1 agent2) 3)" 1763 1773)
  ("(relativeX(agent1 agent2) 4)" 1773 1808)
  ("(relativeX(agent1 agent2) 3)" 1808 1816)
  ("(relativeX(agent1 agent2) 2)" 1816 1831)
  ("(relativeX(agent1 agent2) 1)" 1831 1838)
  ("(relativeX(agent1 agent2) 2)" 1838 1852)
  ("(relativeX(agent1 agent2) 3)" 1852 1861)
  ("(relativeX(agent1 agent2) 4)" 1861 1885)
  ("(relativeX(agent1 agent2) 3)" 1885 1892)
  ("(relativeX(agent1 agent2) 2)" 1892 1899)
  ("(relativeX(agent1 agent2) 1)" 1899 1953)
  ("(relativeX(agent1 agent2) 2)" 1953 1960)
  ("(relativeX(agent1 agent2) 3)" 1960 1970)
  ("(relativeX(agent1 agent2) 4)" 1970 1982)
  ("(relativeX(agent1 agent2) 3)" 1982 1991)
  ("(relativeX(agent1 agent2) 2)" 1991 1998)
  ("(relativeX(agent1 agent2) 1)" 1998 2056)
  ("(relativeX(agent1 agent2) 2)" 2056 2064)
  ("(relativeX(agent1 agent2) 3)" 2064 2067)
  ("(relativeX(agent1 agent2) up)" 961 962)
  ("(relativeX(agent1 agent2) stable)" 962 963)
  ("(relativeX(agent1 agent2) down)" 963 988)
  ("(relativeX(agent1 agent2) stable)" 988 989)
  ("(relativeX(agent1 agent2) up)" 989 1079)
  ("(relativeX(agent1 agent2) down)" 1079 1104)
  ("(relativeX(agent1 agent2) stable)" 1104 1106)
  ("(relativeX(agent1 agent2) up)" 1106 1145)
  ("(relativeX(agent1 agent2) stable)" 1145 1146)
  ("(relativeX(agent1 agent2) down)" 1146 1179)
  ("(relativeX(agent1 agent2) stable)" 1179 1181)
  ("(relativeX(agent1 agent2) up)" 1181 1212)
  ("(relativeX(agent1 agent2) stable)" 1212 1213)
  ("(relativeX(agent1 agent2) down)" 1213 1244)
  ("(relativeX(agent1 agent2) up)" 1244 1292)
  ("(relativeX(agent1 agent2) down)" 1292 1334)
  ("(relativeX(agent1 agent2) up)" 1334 1378)
  ("(relativeX(agent1 agent2) down)" 1378 1420)
  ("(relativeX(agent1 agent2) stable)" 1420 1421)
  ("(relativeX(agent1 agent2) up)" 1421 1463)
  ("(relativeX(agent1 agent2) down)" 1463 1503)
  ("(relativeX(agent1 agent2) stable)" 1503 1504)
  ("(relativeX(agent1 agent2) up)" 1504 1555)
  ("(relativeX(agent1 agent2) stable)" 1555 1556)
  ("(relativeX(agent1 agent2) down)" 1556 1604)
  ("(relativeX(agent1 agent2) up)" 1604 1656)
  ("(relativeX(agent1 agent2) stable)" 1656 1657)
  ("(relativeX(agent1 agent2) down)" 1657 1709)
  ("(relativeX(agent1 agent2) stable)" 1709 1710)
  ("(relativeX(agent1 agent2) up)" 1710 1750)
  ("(relativeX(agent1 agent2) down)" 1750 1791)
  ("(relativeX(agent1 agent2) up)" 1791 1835)
  ("(relativeX(agent1 agent2) down)" 1835 1874)
  ("(relativeX(agent1 agent2) up)" 1874 1927)
  ("(relativeX(agent1 agent2) down)" 1927 1976)
  ("(relativeX(agent1 agent2) stable)" 1976 1977)
  ("(relativeX(agent1 agent2) up)" 1977 2028)
  ("(relativeX(agent1 agent2) down)" 2028 2067)
  ("(relativeY(agent1 agent2) 3)" 960 962)
  ("(relativeY(agent1 agent2) 2)" 962 966)
  ("(relativeY(agent1 agent2) 1)" 966 1052)
  ("(relativeY(agent1 agent2) 2)" 1052 1059)
  ("(relativeY(agent1 agent2) 3)" 1059 1070)
  ("(relativeY(agent1 agent2) 4)" 1070 1090)
  ("(relativeY(agent1 agent2) 3)" 1090 1272)
  ("(relativeY(agent1 agent2) 4)" 1272 1311)
  ("(relativeY(agent1 agent2) 3)" 1311 1354)
  ("(relativeY(agent1 agent2) 4)" 1354 1400)
  ("(relativeY(agent1 agent2) 3)" 1400 1443)
  ("(relativeY(agent1 agent2) 4)" 1443 1479)
  ("(relativeY(agent1 agent2) 3)" 1479 1525)
  ("(relativeY(agent1 agent2) 4)" 1525 1583)
  ("(relativeY(agent1 agent2) 3)" 1583 1624)
  ("(relativeY(agent1 agent2) 4)" 1624 1687)
  ("(relativeY(agent1 agent2) 3)" 1687 1734)
  ("(relativeY(agent1 agent2) 4)" 1734 1763)
  ("(relativeY(agent1 agent2) 3)" 1763 1817)
  ("(relativeY(agent1 agent2) 4)" 1817 1851)
  ("(relativeY(agent1 agent2) 3)" 1851 1892)
  ("(relativeY(agent1 agent2) 4)" 1892 1914)
  ("(relativeY(agent1 agent2) 5)" 1914 1938)
  ("(relativeY(agent1 agent2) 4)" 1938 1959)
  ("(relativeY(agent1 agent2) 3)" 1959 1992)
  ("(relativeY(agent1 agent2) 4)" 1992 2012)
  ("(relativeY(agent1 agent2) 5)" 2012 2043)
  ("(relativeY(agent1 agent2) 4)" 2043 2064)
  ("(relativeY(agent1 agent2) 3)" 2064 2067)
  ("(relativeY(agent1 agent2) up)" 961 1007)
  ("(relativeY(agent1 agent2) down)" 1007 1078)
  ("(relativeY(agent1 agent2) stable)" 1078 1079)
  ("(relativeY(agent1 agent2) up)" 1079 1119)
  ("(relativeY(agent1 agent2) stable)" 1119 1122)
  ("(relativeY(agent1 agent2) down)" 1122 1146)
  ("(relativeY(agent1 agent2) stable)" 1146 1148)
  ("(relativeY(agent1 agent2) up)" 1148 1176)
  ("(relativeY(agent1 agent2) stable)" 1176 1180)
  ("(relativeY(agent1 agent2) down)" 1180 1212)
  ("(relativeY(agent1 agent2) stable)" 1212 1213)
  ("(relativeY(agent1 agent2) up)" 1213 1243)
  ("(relativeY(agent1 agent2) stable)" 1243 1245)
  ("(relativeY(agent1 agent2) down)" 1245 1292)
  ("(relativeY(agent1 agent2) stable)" 1292 1293)
  ("(relativeY(agent1 agent2) up)" 1293 1332)
  ("(relativeY(agent1 agent2) stable)" 1332 1334)
  ("(relativeY(agent1 agent2) down)" 1334 1377)
  ("(relativeY(agent1 agent2) stable)" 1377 1379)
  ("(relativeY(agent1 agent2) up)" 1379 1421)
  ("(relativeY(agent1 agent2) stable)" 1421 1423)
  ("(relativeY(agent1 agent2) down)" 1423 1462)
  ("(relativeY(agent1 agent2) stable)" 1462 1463)
  ("(relativeY(agent1 agent2) up)" 1463 1504)
  ("(relativeY(agent1 agent2) stable)" 1504 1505)
  ("(relativeY(agent1 agent2) down)" 1505 1555)
  ("(relativeY(agent1 agent2) stable)" 1555 1556)
  ("(relativeY(agent1 agent2) up)" 1556 1604)
  ("(relativeY(agent1 agent2) stable)" 1604 1605)
  ("(relativeY(agent1 agent2) down)" 1605 1656)
  ("(relativeY(agent1 agent2) stable)" 1656 1657)
  ("(relativeY(agent1 agent2) up)" 1657 1709)
  ("(relativeY(agent1 agent2) stable)" 1709 1711)
  ("(relativeY(agent1 agent2) down)" 1711 1749)
  ("(relativeY(agent1 agent2) stable)" 1749 1751)
  ("(relativeY(agent1 agent2) up)" 1751 1790)
  ("(relativeY(agent1 agent2) stable)" 1790 1792)
  ("(relativeY(agent1 agent2) down)" 1792 1835)
  ("(relativeY(agent1 agent2) stable)" 1835 1836)
  ("(relativeY(agent1 agent2) up)" 1836 1874)
  ("(relativeY(agent1 agent2) stable)" 1874 1875)
  ("(relativeY(agent1 agent2) down)" 1875 1926)
  ("(relativeY(agent1 agent2) stable)" 1926 1927)
  ("(relativeY(agent1 agent2) up)" 1927 1976)
  ("(relativeY(agent1 agent2) stable)" 1976 1977)
  ("(relativeY(agent1 agent2) down)" 1977 2028)
  ("(relativeY(agent1 agent2) stable)" 2028 2029)
  ("(relativeY(agent1 agent2) up)" 2029 2067)
  ("(x(wall1) 3)" 865 933)
  ("(x(wall1) 3)" 993 1017)
  ("(x(wall1) stable)" 866 933)
  ("(x(wall1) stable)" 994 1017)
  ("(y(wall1) 3)" 865 933)
  ("(y(wall1) 3)" 993 1017)
  ("(y(wall1) stable)" 866 933)
  ("(y(wall1) stable)" 994 1017)
  ("(speed(wall1) 3)" 865 933)
  ("(speed(wall1) 3)" 993 1017)
  ("(speed(wall1) stable)" 866 933)
  ("(speed(wall1) stable)" 994 1017)
  ("(heading(wall1) 3)" 890 908)
  ("(heading(wall1) stable)" 891 908)
  ("novel(agent1 wall1)" 2066 2092)
  ("novel(agent1 wall1)" 1965 2030)
  ("novel(agent1 wall1)" 1884 1957)
  ("novel(agent1 wall1)" 1059 1117)
  ("novel(agent1 wall1)" 969 1033)
  ("novel(agent1 wall1)" 841 908)
  ("(distance(agent1 wall1) 3)" 865 866)
  ("(distance(agent1 wall1) 4)" 866 876)
  ("(distance(agent1 wall1) 5)" 876 903)
  ("(distance(agent1 wall1) 4)" 903 915)
  ("(distance(agent1 wall1) 3)" 915 923)
  ("(distance(agent1 wall1) 2)" 923 933)
  ("(distance(agent1 wall1) 1)" 993 1017)
  ("(distance(agent1 wall1) down)" 866 890)
  ("(distance(agent1 wall1) up)" 890 933)
  ("(distance(agent1 wall1) up)" 994 1017)
  ("(relativeX(agent1 wall1) 3)" 865 866)
  ("(relativeX(agent1 wall1) 4)" 866 876)
  ("(relativeX(agent1 wall1) 5)" 876 903)
  ("(relativeX(agent1 wall1) 4)" 903 915)
  ("(relativeX(agent1 wall1) 3)" 915 923)
  ("(relativeX(agent1 wall1) 2)" 923 933)
  ("(relativeX(agent1 wall1) 1)" 993 1017)
  ("(relativeX(agent1 wall1) down)" 866 890)
  ("(relativeX(agent1 wall1) up)" 890 933)
  ("(relativeX(agent1 wall1) up)" 994 1017)
  ("(relativeY(agent1 wall1) 3)" 865 887)
  ("(relativeY(agent1 wall1) 4)" 887 908)
  ("(relativeY(agent1 wall1) 5)" 908 933)
  ("(relativeY(agent1 wall1) 1)" 993 1017)
  ("(relativeY(agent1 wall1) up)" 866 868)
  ("(relativeY(agent1 wall1) stable)" 868 869)
  ("(relativeY(agent1 wall1) down)" 869 923)
  ("(relativeY(agent1 wall1) stable)" 923 924)
  ("(relativeY(agent1 wall1) up)" 924 933)
  ("(relativeY(agent1 wall1) up)" 994 1017)
  ("(x(wall2) 3)" 25 64)
  ("(x(wall2) stable)" 26 64)
  ("(y(wall2) 3)" 25 64)
  ("(y(wall2) stable)" 26 64)
  ("(speed(wall2) 3)" 25 64)
  ("(speed(wall2) stable)" 26 64)
  ("(distance(agent1 wall2) 1)" 25 35)
  ("(distance(agent1 wall2) 2)" 35 42)
  ("(distance(agent1 wall2) 3)" 42 47)
  ("(distance(agent1 wall2) 4)" 47 54)
  ("(distance(agent1 wall2) 5)" 54 64)
  ("(distance(agent1 wall2) down)" 26 64)
  ("(relativeX(agent1 wall2) 5)" 25 35)
  ("(relativeX(agent1 wall2) 4)" 35 42)
  ("(relativeX(agent1 wall2) 3)" 42 47)
  ("(relativeX(agent1 wall2) 2)" 47 54)
  ("(relativeX(agent1 wall2) 1)" 54 64)
  ("(relativeX(agent1 wall2) up)" 26 64)
  ("(relativeY(agent1 wall2) 5)" 25 35)
  ("(relativeY(agent1 wall2) 4)" 35 43)
  ("(relativeY(agent1 wall2) 3)" 43 48)
  ("(relativeY(agent1 wall2) 2)" 48 54)
  ("(relativeY(agent1 wall2) 1)" 54 64)
  ("(relativeY(agent1 wall2) up)" 26 64)
  ("(x(wall4) 3)" 613 2067)
  ("(x(wall4) stable)" 614 2067)
  ("(y(wall4) 3)" 613 2067)
  ("(y(wall4) stable)" 614 2067)
  ("(speed(wall4) 3)" 613 2067)
  ("(speed(wall4) stable)" 614 2067)
  ("(heading(wall4) 3)" 638 2042)
  ("(heading(wall4) stable)" 639 2042)
  ("novel(agent1 wall4)" 589 669)
  ("(distance(agent1 wall4) 1)" 613 755)
  ("(distance(agent1 wall4) 2)" 755 802)
  ("(distance(agent1 wall4) 3)" 802 977)
  ("(distance(agent1 wall4) 4)" 977 2003)
  ("(distance(agent1 wall4) 3)" 2003 2067)
  ("(distance(agent1 wall4) down)" 614 865)
  ("(distance(agent1 wall4) stable)" 865 872)
  ("(distance(agent1 wall4) up)" 872 921)
  ("(distance(agent1 wall4) stable)" 921 926)
  ("(distance(agent1 wall4) down)" 926 1017)
  ("(distance(agent1 wall4) stable)" 1017 1029)
  ("(distance(agent1 wall4) up)" 1029 1061)
  ("(distance(agent1 wall4) stable)" 1061 1076)
  ("(distance(agent1 wall4) down)" 1076 1113)
  ("(distance(agent1 wall4) stable)" 1113 1356)
  ("(distance(agent1 wall4) up)" 1356 1358)
  ("(distance(agent1 wall4) stable)" 1358 1518)
  ("(distance(agent1 wall4) up)" 1518 1543)
  ("(distance(agent1 wall4) stable)" 1543 1616)
  ("(distance(agent1 wall4) up)" 1616 1646)
  ("(distance(agent1 wall4) stable)" 1646 1726)
  ("(distance(agent1 wall4) up)" 1726 1734)
  ("(distance(agent1 wall4) stable)" 1734 1806)
  ("(distance(agent1 wall4) up)" 1806 1823)
  ("(distance(agent1 wall4) stable)" 1823 1884)
  ("(distance(agent1 wall4) up)" 1884 1920)
  ("(distance(agent1 wall4) stable)" 1920 1985)
  ("(distance(agent1 wall4) up)" 1985 2021)
  ("(distance(agent1 wall4) stable)" 2021 2049)
  ("(distance(agent1 wall4) down)" 2049 2053)
  ("(distance(agent1 wall4) stable)" 2053 2067)
  ("(relativeX(agent1 wall4) 1)" 613 786)
  ("(relativeX(agent1 wall4) 2)" 786 814)
  ("(relativeX(agent1 wall4) 3)" 814 835)
  ("(relativeX(agent1 wall4) 4)" 835 862)
  ("(relativeX(agent1 wall4) 5)" 862 921)
  ("(relativeX(agent1 wall4) 4)" 921 1278)
  ("(relativeX(agent1 wall4) 3)" 1278 1304)
  ("(relativeX(agent1 wall4) 4)" 1304 1364)
  ("(relativeX(agent1 wall4) 3)" 1364 1391)
  ("(relativeX(agent1 wall4) 4)" 1391 1451)
  ("(relativeX(agent1 wall4) 3)" 1451 1472)
  ("(relativeX(agent1 wall4) 4)" 1472 1528)
  ("(relativeX(agent1 wall4) 3)" 1528 1580)
  ("(relativeX(agent1 wall4) 4)" 1580 1626)
  ("(relativeX(agent1 wall4) 3)" 1626 1685)
  ("(relativeX(agent1 wall4) 4)" 1685 1739)
  ("(relativeX(agent1 wall4) 3)" 1739 1759)
  ("(relativeX(agent1 wall4) 4)" 1759 1820)
  ("(relativeX(agent1 wall4) 3)" 1820 1847)
  ("(relativeX(agent1 wall4) 4)" 1847 1897)
  ("(relativeX(agent1 wall4) 3)" 1897 1954)
  ("(relativeX(agent1 wall4) 4)" 1954 1997)
  ("(relativeX(agent1 wall4) 3)" 1997 2057)
  ("(relativeX(agent1 wall4) 4)" 2057 2067)
  ("(relativeX(agent1 wall4) down)" 614 888)
  ("(relativeX(agent1 wall4) stable)" 888 891)
  ("(relativeX(agent1 wall4) up)" 891 957)
  ("(relativeX(agent1 wall4) stable)" 957 962)
  ("(relativeX(agent1 wall4) down)" 962 986)
  ("(relativeX(agent1 wall4) stable)" 986 995)
  ("(relativeX(agent1 wall4) up)" 995 1026)
  ("(relativeX(agent1 wall4) stable)" 1026 1043)
  ("(relativeX(agent1 wall4) up)" 1043 1077)
  ("(relativeX(agent1 wall4) stable)" 1077 1082)
  ("(relativeX(agent1 wall4) down)" 1082 1100)
  ("(relativeX(agent1 wall4) stable)" 1100 1110)
  ("(relativeX(agent1 wall4) up)" 1110 1143)
  ("(relativeX(agent1 wall4) stable)" 1143 1147)
  ("(relativeX(agent1 wall4) down)" 1147 1176)
  ("(relativeX(agent1 wall4) stable)" 1176 1185)
  ("(relativeX(agent1 wall4) up)" 1185 1211)
  ("(relativeX(agent1 wall4) stable)" 1211 1215)
  ("(relativeX(agent1 wall4) down)" 1215 1241)
  ("(relativeX(agent1 wall4) stable)" 1241 1246)
  ("(relativeX(agent1 wall4) up)" 1246 1290)
  ("(relativeX(agent1 wall4) stable)" 1290 1294)
  ("(relativeX(agent1 wall4) down)" 1294 1332)
  ("(relativeX(agent1 wall4) stable)" 1332 1336)
  ("(relativeX(agent1 wall4) up)" 1336 1376)
  ("(relativeX(agent1 wall4) stable)" 1376 1380)
  ("(relativeX(agent1 wall4) down)" 1380 1418)
  ("(relativeX(agent1 wall4) stable)" 1418 1423)
  ("(relativeX(agent1 wall4) up)" 1423 1461)
  ("(relativeX(agent1 wall4) stable)" 1461 1464)
  ("(relativeX(agent1 wall4) down)" 1464 1502)
  ("(relativeX(agent1 wall4) stable)" 1502 1505)
  ("(relativeX(agent1 wall4) up)" 1505 1554)
  ("(relativeX(agent1 wall4) stable)" 1554 1557)
  ("(relativeX(agent1 wall4) down)" 1557 1603)
  ("(relativeX(agent1 wall4) stable)" 1603 1606)
  ("(relativeX(agent1 wall4) up)" 1606 1655)
  ("(relativeX(agent1 wall4) stable)" 1655 1658)
  ("(relativeX(agent1 wall4) down)" 1658 1708)
  ("(relativeX(agent1 wall4) stable)" 1708 1712)
  ("(relativeX(agent1 wall4) up)" 1712 1748)
  ("(relativeX(agent1 wall4) stable)" 1748 1751)
  ("(relativeX(agent1 wall4) down)" 1751 1789)
  ("(relativeX(agent1 wall4) stable)" 1789 1793)
  ("(relativeX(agent1 wall4) up)" 1793 1833)
  ("(relativeX(agent1 wall4) stable)" 1833 1836)
  ("(relativeX(agent1 wall4) down)" 1836 1873)
  ("(relativeX(agent1 wall4) stable)" 1873 1876)
  ("(relativeX(agent1 wall4) up)" 1876 1926)
  ("(relativeX(agent1 wall4) stable)" 1926 1928)
  ("(relativeX(agent1 wall4) down)" 1928 1976)
  ("(relativeX(agent1 wall4) stable)" 1976 1978)
  ("(relativeX(agent1 wall4) up)" 1978 2027)
  ("(relativeX(agent1 wall4) stable)" 2027 2029)
  ("(relativeX(agent1 wall4) down)" 2029 2067)
  ("(relativeY(agent1 wall4) 5)" 613 755)
  ("(relativeY(agent1 wall4) 4)" 755 802)
  ("(relativeY(agent1 wall4) 3)" 802 977)
  ("(relativeY(agent1 wall4) 2)" 977 2003)
  ("(relativeY(agent1 wall4) 3)" 2003 2067)
  ("(relativeY(agent1 wall4) up)" 614 865)
  ("(relativeY(agent1 wall4) stable)" 865 872)
  ("(relativeY(agent1 wall4) down)" 872 921)
  ("(relativeY(agent1 wall4) stable)" 921 926)
  ("(relativeY(agent1 wall4) up)" 926 1017)
  ("(relativeY(agent1 wall4) stable)" 1017 1029)
  ("(relativeY(agent1 wall4) down)" 1029 1061)
  ("(relativeY(agent1 wall4) stable)" 1061 1076)
  ("(relativeY(agent1 wall4) up)" 1076 1113)
  ("(relativeY(agent1 wall4) stable)" 1113 1356)
  ("(relativeY(agent1 wall4) down)" 1356 1358)
  ("(relativeY(agent1 wall4) stable)" 1358 1518)
  ("(relativeY(agent1 wall4) down)" 1518 1543)
  ("(relativeY(agent1 wall4) stable)" 1543 1616)
  ("(relativeY(agent1 wall4) down)" 1616 1646)
  ("(relativeY(agent1 wall4) stable)" 1646 1726)
  ("(relativeY(agent1 wall4) down)" 1726 1734)
  ("(relativeY(agent1 wall4) stable)" 1734 1806)
  ("(relativeY(agent1 wall4) down)" 1806 1823)
  ("(relativeY(agent1 wall4) stable)" 1823 1884)
  ("(relativeY(agent1 wall4) down)" 1884 1920)
  ("(relativeY(agent1 wall4) stable)" 1920 1985)
  ("(relativeY(agent1 wall4) down)" 1985 2021)
  ("(relativeY(agent1 wall4) stable)" 2021 2049)
  ("(relativeY(agent1 wall4) up)" 2049 2053)
  ("(relativeY(agent1 wall4) stable)" 2053 2067)
 ))
(14
 (
  ("(x(agent1) 4)" 25 139)
  ("(x(agent1) 5)" 139 810)
  ("(x(agent1) 4)" 810 933)
  ("(x(agent1) 3)" 933 1042)
  ("(x(agent1) 2)" 1042 1250)
  ("(x(agent1) 1)" 1250 1316)
  ("(x(agent1) 2)" 1316 1351)
  ("(x(agent1) 1)" 1351 2151)
  ("(x(agent1) 2)" 2151 2172)
  ("(x(agent1) 1)" 2172 2335)
  ("(x(agent1) down)" 26 425)
  ("(x(agent1) stable)" 425 550)
  ("(x(agent1) up)" 550 1269)
  ("(x(agent1) stable)" 1269 1296)
  ("(x(agent1) down)" 1296 1321)
  ("(x(agent1) stable)" 1321 1346)
  ("(x(agent1) up)" 1346 1382)
  ("(x(agent1) stable)" 1382 1407)
  ("(x(agent1) down)" 1407 1425)
  ("(x(agent1) stable)" 1425 1455)
  ("(x(agent1) up)" 1455 1473)
  ("(x(agent1) stable)" 1473 1502)
  ("(x(agent1) down)" 1502 1528)
  ("(x(agent1) stable)" 1528 1553)
  ("(x(agent1) up)" 1553 1580)
  ("(x(agent1) stable)" 1580 1605)
  ("(x(agent1) down)" 1605 1630)
  ("(x(agent1) stable)" 1630 1655)
  ("(x(agent1) up)" 1655 1680)
  ("(x(agent1) stable)" 1680 1705)
  ("(x(agent1) down)" 1705 1734)
  ("(x(agent1) stable)" 1734 1758)
  ("(x(agent1) up)" 1758 1788)
  ("(x(agent1) stable)" 1788 1811)
  ("(x(agent1) down)" 1811 1840)
  ("(x(agent1) stable)" 1840 1865)
  ("(x(agent1) up)" 1865 1894)
  ("(x(agent1) stable)" 1894 1919)
  ("(x(agent1) down)" 1919 1943)
  ("(x(agent1) stable)" 1943 1969)
  ("(x(agent1) up)" 1969 1993)
  ("(x(agent1) stable)" 1993 2018)
  ("(x(agent1) down)" 2018 2046)
  ("(x(agent1) stable)" 2046 2070)
  ("(x(agent1) up)" 2070 2095)
  ("(x(agent1) stable)" 2095 2120)
  ("(x(agent1) down)" 2120 2149)
  ("(x(agent1) stable)" 2149 2174)
  ("(x(agent1) up)" 2174 2202)
  ("(x(agent1) stable)" 2202 2229)
  ("(x(agent1) down)" 2229 2244)
  ("(x(agent1) stable)" 2244 2267)
  ("(x(agent1) up)" 2267 2284)
  ("(x(agent1) stable)" 2284 2310)
  ("(x(agent1) down)" 2310 2334)
  ("(x(agent1) stable)" 2334 2335)
  ("(y(agent1) 1)" 25 438)
  ("(y(agent1) 2)" 438 514)
  ("(y(agent1) 3)" 514 578)
  ("(y(agent1) 4)" 578 661)
  ("(y(agent1) 5)" 661 1151)
  ("(y(agent1) 4)" 1151 1234)
  ("(y(agent1) 3)" 1234 2335)
  ("(y(agent1) up)" 26 159)
  ("(y(agent1) stable)" 159 226)
  ("(y(agent1) down)" 226 874)
  ("(y(agent1) stable)" 874 939)
  ("(y(agent1) up)" 939 1300)
  ("(y(agent1) stable)" 1300 1389)
  ("(y(agent1) down)" 1389 1427)
  ("(y(agent1) stable)" 1427 1457)
  ("(y(agent1) up)" 1457 1477)
  ("(y(agent1) stable)" 1477 2335)
  ("(speed(agent1) 5)" 25 30)
  ("(speed(agent1) 4)" 30 48)
  ("(speed(agent1) 3)" 48 70)
  ("(speed(agent1) 2)" 70 130)
  ("(speed(agent1) 1)" 130 224)
  ("(speed(agent1) 2)" 224 244)
  ("(speed(agent1) 3)" 244 266)
  ("(speed(agent1) 4)" 266 277)
  ("(speed(agent1) 3)" 277 315)
  ("(speed(agent1) 2)" 315 387)
  ("(speed(agent1) 1)" 387 1262)
  ("(speed(agent1) 2)" 1262 1277)
  ("(speed(agent1) 3)" 1277 1291)
  ("(speed(agent1) 4)" 1291 1304)
  ("(speed(agent1) 5)" 1304 1368)
  ("(speed(agent1) 4)" 1368 1402)
  ("(speed(agent1) 5)" 1402 1493)
  ("(speed(agent1) 4)" 1493 1498)
  ("(speed(agent1) 5)" 1498 1583)
  ("(speed(agent1) 4)" 1583 1605)
  ("(speed(agent1) 5)" 1605 1685)
  ("(speed(agent1) 4)" 1685 1709)
  ("(speed(agent1) 5)" 1709 1784)
  ("(speed(agent1) 4)" 1784 1816)
  ("(speed(agent1) 5)" 1816 1896)
  ("(speed(agent1) 4)" 1896 1917)
  ("(speed(agent1) 5)" 1917 2000)
  ("(speed(agent1) 4)" 2000 2020)
  ("(speed(agent1) 5)" 2020 2100)
  ("(speed(agent1) 4)" 2100 2124)
  ("(speed(agent1) 5)" 2124 2199)
  ("(speed(agent1) 4)" 2199 2225)
  ("(speed(agent1) 5)" 2225 2290)
  ("(speed(agent1) 4)" 2290 2314)
  ("(speed(agent1) 5)" 2314 2335)
  ("(speed(agent1) up)" 26 203)
  ("(speed(agent1) stable)" 203 210)
  ("(speed(agent1) down)" 210 271)
  ("(speed(agent1) stable)" 271 272)
  ("(speed(agent1) up)" 272 422)
  ("(speed(agent1) down)" 422 434)
  ("(speed(agent1) stable)" 434 473)
  ("(speed(agent1) up)" 473 524)
  ("(speed(agent1) stable)" 524 1256)
  ("(speed(agent1) down)" 1256 1338)
  ("(speed(agent1) stable)" 1338 1341)
  ("(speed(agent1) up)" 1341 1394)
  ("(speed(agent1) stable)" 1394 1395)
  ("(speed(agent1) down)" 1395 1446)
  ("(speed(agent1) stable)" 1446 1447)
  ("(speed(agent1) up)" 1447 1496)
  ("(speed(agent1) stable)" 1496 1497)
  ("(speed(agent1) down)" 1497 1546)
  ("(speed(agent1) stable)" 1546 1547)
  ("(speed(agent1) up)" 1547 1597)
  ("(speed(agent1) down)" 1597 1648)
  ("(speed(agent1) up)" 1648 1700)
  ("(speed(agent1) down)" 1700 1751)
  ("(speed(agent1) stable)" 1751 1752)
  ("(speed(agent1) up)" 1752 1805)
  ("(speed(agent1) stable)" 1805 1806)
  ("(speed(agent1) down)" 1806 1857)
  ("(speed(agent1) stable)" 1857 1858)
  ("(speed(agent1) up)" 1858 1910)
  ("(speed(agent1) stable)" 1910 1911)
  ("(speed(agent1) down)" 1911 1961)
  ("(speed(agent1) stable)" 1961 1962)
  ("(speed(agent1) up)" 1962 2012)
  ("(speed(agent1) stable)" 2012 2013)
  ("(speed(agent1) down)" 2013 2063)
  ("(speed(agent1) stable)" 2063 2064)
  ("(speed(agent1) up)" 2064 2115)
  ("(speed(agent1) stable)" 2115 2116)
  ("(speed(agent1) down)" 2116 2166)
  ("(speed(agent1) stable)" 2166 2167)
  ("(speed(agent1) up)" 2167 2215)
  ("(speed(agent1) stable)" 2215 2216)
  ("(speed(agent1) down)" 2216 2237)
  ("(speed(agent1) stable)" 2237 2243)
  ("(speed(agent1) up)" 2243 2269)
  ("(speed(agent1) down)" 2269 2273)
  ("(speed(agent1) stable)" 2273 2274)
  ("(speed(agent1) up)" 2274 2303)
  ("(speed(agent1) stable)" 2303 2304)
  ("(speed(agent1) down)" 2304 2335)
  ("(heading(agent1) 2)" 50 251)
  ("(heading(agent1) 1)" 251 857)
  ("(heading(agent1) 5)" 857 900)
  ("(heading(agent1) 4)" 900 2310)
  ("(heading(agent1) up)" 51 1196)
  ("(heading(agent1) stable)" 1196 1217)
  ("(heading(agent1) down)" 1217 1376)
  ("(heading(agent1) stable)" 1376 1387)
  ("(heading(agent1) up)" 1387 1434)
  ("(heading(agent1) stable)" 1434 1473)
  ("(heading(agent1) down)" 1473 1571)
  ("(heading(agent1) stable)" 1571 2310)
  ("(energy(agent1) 2)" 25 1393)
  ("(energy(agent1) 3)" 1393 1587)
  ("(energy(agent1) 4)" 1587 1797)
  ("(energy(agent1) 5)" 1797 2335)
  ("(energy(agent1) stable)" 26 1257)
  ("(energy(agent1) down)" 1257 1308)
  ("(energy(agent1) stable)" 1308 1361)
  ("(energy(agent1) down)" 1361 1412)
  ("(energy(agent1) stable)" 1412 1461)
  ("(energy(agent1) down)" 1461 1512)
  ("(energy(agent1) stable)" 1512 1564)
  ("(energy(agent1) down)" 1564 1615)
  ("(energy(agent1) stable)" 1615 1665)
  ("(energy(agent1) down)" 1665 1716)
  ("(energy(agent1) stable)" 1716 1771)
  ("(energy(agent1) down)" 1771 1822)
  ("(energy(agent1) stable)" 1822 1877)
  ("(energy(agent1) down)" 1877 1928)
  ("(energy(agent1) stable)" 1928 1978)
  ("(energy(agent1) down)" 1978 2029)
  ("(energy(agent1) stable)" 2029 2080)
  ("(energy(agent1) down)" 2080 2131)
  ("(energy(agent1) stable)" 2131 2186)
  ("(energy(agent1) down)" 2186 2237)
  ("(energy(agent1) stable)" 2237 2270)
  ("(energy(agent1) down)" 2270 2321)
  ("(energy(agent1) stable)" 2321 2335)
  ("(arousal(agent1) 3)" 25 383)
  ("(arousal(agent1) 4)" 383 740)
  ("(arousal(agent1) 5)" 740 1288)
  ("(arousal(agent1) 4)" 1288 1394)
  ("(arousal(agent1) 3)" 1394 1579)
  ("(arousal(agent1) 2)" 1579 1709)
  ("(arousal(agent1) 1)" 1709 1740)
  ("(arousal(agent1) 2)" 1740 1775)
  ("(arousal(agent1) 1)" 1775 2335)
  ("(arousal(agent1) down)" 26 83)
  ("(arousal(agent1) stable)" 83 104)
  ("(arousal(agent1) up)" 104 180)
  ("(arousal(agent1) stable)" 180 202)
  ("(arousal(agent1) down)" 202 1146)
  ("(arousal(agent1) stable)" 1146 1166)
  ("(arousal(agent1) up)" 1166 1333)
  ("(arousal(agent1) stable)" 1333 1353)
  ("(arousal(agent1) down)" 1353 1360)
  ("(arousal(agent1) up)" 1360 1411)
  ("(arousal(agent1) down)" 1411 1460)
  ("(arousal(agent1) up)" 1460 1511)
  ("(arousal(agent1) down)" 1511 1563)
  ("(arousal(agent1) up)" 1563 1614)
  ("(arousal(agent1) down)" 1614 1664)
  ("(arousal(agent1) up)" 1664 1715)
  ("(arousal(agent1) down)" 1715 1770)
  ("(arousal(agent1) up)" 1770 1821)
  ("(arousal(agent1) down)" 1821 1876)
  ("(arousal(agent1) up)" 1876 1927)
  ("(arousal(agent1) down)" 1927 1977)
  ("(arousal(agent1) up)" 1977 2028)
  ("(arousal(agent1) down)" 2028 2079)
  ("(arousal(agent1) up)" 2079 2130)
  ("(arousal(agent1) down)" 2130 2185)
  ("(arousal(agent1) up)" 2185 2236)
  ("(arousal(agent1) down)" 2236 2269)
  ("(arousal(agent1) up)" 2269 2320)
  ("(arousal(agent1) down)" 2320 2335)
  ("(valence(agent1) 5)" 25 1258)
  ("(valence(agent1) 4)" 1258 1285)
  ("(valence(agent1) 3)" 1285 1370)
  ("(valence(agent1) 2)" 1370 1405)
  ("(valence(agent1) 1)" 1405 1449)
  ("(valence(agent1) 2)" 1449 1462)
  ("(valence(agent1) 1)" 1462 2335)
  ("(valence(agent1) stable)" 26 1256)
  ("(valence(agent1) up)" 1256 1307)
  ("(valence(agent1) down)" 1307 1360)
  ("(valence(agent1) up)" 1360 1411)
  ("(valence(agent1) down)" 1411 1460)
  ("(valence(agent1) up)" 1460 1511)
  ("(valence(agent1) down)" 1511 1563)
  ("(valence(agent1) up)" 1563 1614)
  ("(valence(agent1) down)" 1614 1664)
  ("(valence(agent1) up)" 1664 1715)
  ("(valence(agent1) down)" 1715 1770)
  ("(valence(agent1) up)" 1770 1821)
  ("(valence(agent1) down)" 1821 1876)
  ("(valence(agent1) up)" 1876 1927)
  ("(valence(agent1) down)" 1927 1977)
  ("(valence(agent1) up)" 1977 2028)
  ("(valence(agent1) down)" 2028 2079)
  ("(valence(agent1) up)" 2079 2130)
  ("(valence(agent1) down)" 2130 2185)
  ("(valence(agent1) up)" 2185 2236)
  ("(valence(agent1) down)" 2236 2269)
  ("(valence(agent1) up)" 2269 2320)
  ("(valence(agent1) down)" 2320 2335)
  ("(goal(agent1) WanderGoal)" 0 1164)
  ("(goal(agent1) PursueGoal)" 1164 2360)
  ("(state(agent1) wander)" 0 1164)
  ("(state(agent1) charge)" 1164 1281)
  ("(state(agent1) back-away)" 1281 1313)
  ("(state(agent1) charge)" 1313 1385)
  ("(state(agent1) back-away)" 1385 1417)
  ("(state(agent1) charge)" 1417 1485)
  ("(state(agent1) back-away)" 1485 1517)
  ("(state(agent1) charge)" 1517 1587)
  ("(state(agent1) back-away)" 1587 1618)
  ("(state(agent1) charge)" 1618 1688)
  ("(state(agent1) back-away)" 1688 1721)
  ("(state(agent1) charge)" 1721 1794)
  ("(state(agent1) back-away)" 1794 1827)
  ("(state(agent1) charge)" 1827 1901)
  ("(state(agent1) back-away)" 1901 1932)
  ("(state(agent1) charge)" 1932 2001)
  ("(state(agent1) back-away)" 2001 2033)
  ("(state(agent1) charge)" 2033 2103)
  ("(state(agent1) back-away)" 2103 2136)
  ("(state(agent1) charge)" 2136 2209)
  ("(state(agent1) back-away)" 2209 2235)
  ("(state(agent1) charge)" 2235 2294)
  ("(state(agent1) back-away)" 2294 2322)
  ("(state(agent1) charge)" 2322 2360)
  ("(x(agent2) 5)" 1188 1301)
  ("(x(agent2) 4)" 1301 1308)
  ("(x(agent2) 3)" 1308 1314)
  ("(x(agent2) 2)" 1314 1323)
  ("(x(agent2) 1)" 1323 1350)
  ("(x(agent2) 2)" 1350 1359)
  ("(x(agent2) 3)" 1359 1366)
  ("(x(agent2) 4)" 1366 1374)
  ("(x(agent2) 5)" 1374 1410)
  ("(x(agent2) 4)" 1410 1420)
  ("(x(agent2) 3)" 1420 1430)
  ("(x(agent2) 2)" 1430 1456)
  ("(x(agent2) 3)" 1456 1465)
  ("(x(agent2) 4)" 1465 1479)
  ("(x(agent2) 5)" 1479 1496)
  ("(x(agent2) 4)" 1496 1507)
  ("(x(agent2) 3)" 1507 1514)
  ("(x(agent2) 2)" 1514 1523)
  ("(x(agent2) 1)" 1523 1559)
  ("(x(agent2) 2)" 1559 1567)
  ("(x(agent2) 3)" 1567 1575)
  ("(x(agent2) 4)" 1575 1609)
  ("(x(agent2) 3)" 1609 1616)
  ("(x(agent2) 2)" 1616 1625)
  ("(x(agent2) 1)" 1625 1660)
  ("(x(agent2) 2)" 1660 1668)
  ("(x(agent2) 3)" 1668 1676)
  ("(x(agent2) 4)" 1676 1708)
  ("(x(agent2) 3)" 1708 1715)
  ("(x(agent2) 2)" 1715 1723)
  ("(x(agent2) 1)" 1723 1768)
  ("(x(agent2) 2)" 1768 1776)
  ("(x(agent2) 3)" 1776 1784)
  ("(x(agent2) 4)" 1784 1814)
  ("(x(agent2) 3)" 1814 1821)
  ("(x(agent2) 2)" 1821 1829)
  ("(x(agent2) 1)" 1829 1874)
  ("(x(agent2) 2)" 1874 1882)
  ("(x(agent2) 3)" 1882 1890)
  ("(x(agent2) 4)" 1890 1923)
  ("(x(agent2) 3)" 1923 1930)
  ("(x(agent2) 2)" 1930 1940)
  ("(x(agent2) 1)" 1940 1972)
  ("(x(agent2) 2)" 1972 1980)
  ("(x(agent2) 3)" 1980 1989)
  ("(x(agent2) 4)" 1989 2023)
  ("(x(agent2) 3)" 2023 2030)
  ("(x(agent2) 2)" 2030 2040)
  ("(x(agent2) 1)" 2040 2073)
  ("(x(agent2) 2)" 2073 2081)
  ("(x(agent2) 3)" 2081 2088)
  ("(x(agent2) 4)" 2088 2100)
  ("(x(agent2) 5)" 2100 2116)
  ("(x(agent2) 4)" 2116 2127)
  ("(x(agent2) 3)" 2127 2134)
  ("(x(agent2) 2)" 2134 2142)
  ("(x(agent2) 1)" 2142 2180)
  ("(x(agent2) 2)" 2180 2187)
  ("(x(agent2) 3)" 2187 2194)
  ("(x(agent2) 4)" 2194 2207)
  ("(x(agent2) 5)" 2207 2221)
  ("(x(agent2) 4)" 2221 2234)
  ("(x(agent2) 3)" 2234 2243)
  ("(x(agent2) 2)" 2243 2268)
  ("(x(agent2) 3)" 2268 2277)
  ("(x(agent2) 4)" 2277 2292)
  ("(x(agent2) 5)" 2292 2302)
  ("(x(agent2) 4)" 2302 2316)
  ("(x(agent2) 3)" 2316 2323)
  ("(x(agent2) 2)" 2323 2332)
  ("(x(agent2) 1)" 2332 2335)
  ("(x(agent2) up)" 1189 1231)
  ("(x(agent2) stable)" 1231 1232)
  ("(x(agent2) down)" 1232 1271)
  ("(x(agent2) stable)" 1271 1272)
  ("(x(agent2) up)" 1272 1337)
  ("(x(agent2) stable)" 1337 1338)
  ("(x(agent2) down)" 1338 1393)
  ("(x(agent2) up)" 1393 1443)
  ("(x(agent2) stable)" 1443 1444)
  ("(x(agent2) down)" 1444 1488)
  ("(x(agent2) stable)" 1488 1489)
  ("(x(agent2) up)" 1489 1542)
  ("(x(agent2) down)" 1542 1593)
  ("(x(agent2) up)" 1593 1643)
  ("(x(agent2) stable)" 1643 1644)
  ("(x(agent2) down)" 1644 1693)
  ("(x(agent2) stable)" 1693 1694)
  ("(x(agent2) up)" 1694 1747)
  ("(x(agent2) down)" 1747 1800)
  ("(x(agent2) up)" 1800 1853)
  ("(x(agent2) down)" 1853 1907)
  ("(x(agent2) up)" 1907 1957)
  ("(x(agent2) down)" 1957 2006)
  ("(x(agent2) stable)" 2006 2007)
  ("(x(agent2) up)" 2007 2057)
  ("(x(agent2) down)" 2057 2109)
  ("(x(agent2) up)" 2109 2162)
  ("(x(agent2) down)" 2162 2214)
  ("(x(agent2) up)" 2214 2257)
  ("(x(agent2) down)" 2257 2298)
  ("(x(agent2) up)" 2298 2335)
  ("(y(agent2) 1)" 1188 1268)
  ("(y(agent2) 2)" 1268 1281)
  ("(y(agent2) 3)" 1281 1415)
  ("(y(agent2) 2)" 1415 1441)
  ("(y(agent2) 3)" 1441 1478)
  ("(y(agent2) 4)" 1478 1635)
  ("(y(agent2) 3)" 1635 1648)
  ("(y(agent2) 4)" 1648 1834)
  ("(y(agent2) 3)" 1834 1873)
  ("(y(agent2) 4)" 1873 1938)
  ("(y(agent2) 3)" 1938 1975)
  ("(y(agent2) 4)" 1975 2034)
  ("(y(agent2) 3)" 2034 2081)
  ("(y(agent2) 4)" 2081 2132)
  ("(y(agent2) 3)" 2132 2187)
  ("(y(agent2) 4)" 2187 2335)
  ("(y(agent2) down)" 1189 1306)
  ("(y(agent2) stable)" 1306 1309)
  ("(y(agent2) up)" 1309 1355)
  ("(y(agent2) stable)" 1355 1365)
  ("(y(agent2) up)" 1365 1427)
  ("(y(agent2) stable)" 1427 1430)
  ("(y(agent2) down)" 1430 1502)
  ("(y(agent2) stable)" 1502 1506)
  ("(y(agent2) up)" 1506 1539)
  ("(y(agent2) stable)" 1539 1545)
  ("(y(agent2) down)" 1545 1585)
  ("(y(agent2) stable)" 1585 1591)
  ("(y(agent2) up)" 1591 1640)
  ("(y(agent2) stable)" 1640 1644)
  ("(y(agent2) down)" 1644 1693)
  ("(y(agent2) stable)" 1693 1697)
  ("(y(agent2) up)" 1697 1745)
  ("(y(agent2) stable)" 1745 1750)
  ("(y(agent2) down)" 1750 1796)
  ("(y(agent2) stable)" 1796 1801)
  ("(y(agent2) up)" 1801 1852)
  ("(y(agent2) stable)" 1852 1857)
  ("(y(agent2) down)" 1857 1904)
  ("(y(agent2) stable)" 1904 1909)
  ("(y(agent2) up)" 1909 1955)
  ("(y(agent2) stable)" 1955 1960)
  ("(y(agent2) down)" 1960 2004)
  ("(y(agent2) stable)" 2004 2009)
  ("(y(agent2) up)" 2009 2056)
  ("(y(agent2) stable)" 2056 2061)
  ("(y(agent2) down)" 2061 2106)
  ("(y(agent2) stable)" 2106 2111)
  ("(y(agent2) up)" 2111 2159)
  ("(y(agent2) stable)" 2159 2164)
  ("(y(agent2) down)" 2164 2213)
  ("(y(agent2) stable)" 2213 2219)
  ("(y(agent2) up)" 2219 2254)
  ("(y(agent2) stable)" 2254 2259)
  ("(y(agent2) down)" 2259 2297)
  ("(y(agent2) stable)" 2297 2303)
  ("(y(agent2) up)" 2303 2335)
  ("(speed(agent2) 1)" 1188 1301)
  ("(speed(agent2) 2)" 1301 1307)
  ("(speed(agent2) 3)" 1307 1317)
  ("(speed(agent2) 4)" 1317 1339)
  ("(speed(agent2) 5)" 1339 1345)
  ("(speed(agent2) 4)" 1345 1358)
  ("(speed(agent2) 3)" 1358 1407)
  ("(speed(agent2) 4)" 1407 1466)
  ("(speed(agent2) 3)" 1466 1509)
  ("(speed(agent2) 4)" 1509 1535)
  ("(speed(agent2) 5)" 1535 1554)
  ("(speed(agent2) 4)" 1554 1566)
  ("(speed(agent2) 3)" 1566 1591)
  ("(speed(agent2) 2)" 1591 1602)
  ("(speed(agent2) 3)" 1602 1612)
  ("(speed(agent2) 4)" 1612 1637)
  ("(speed(agent2) 5)" 1637 1655)
  ("(speed(agent2) 4)" 1655 1668)
  ("(speed(agent2) 3)" 1668 1692)
  ("(speed(agent2) 2)" 1692 1705)
  ("(speed(agent2) 3)" 1705 1717)
  ("(speed(agent2) 4)" 1717 1742)
  ("(speed(agent2) 5)" 1742 1758)
  ("(speed(agent2) 4)" 1758 1768)
  ("(speed(agent2) 3)" 1768 1792)
  ("(speed(agent2) 2)" 1792 1813)
  ("(speed(agent2) 3)" 1813 1825)
  ("(speed(agent2) 4)" 1825 1848)
  ("(speed(agent2) 5)" 1848 1864)
  ("(speed(agent2) 4)" 1864 1874)
  ("(speed(agent2) 3)" 1874 1908)
  ("(speed(agent2) 2)" 1908 1911)
  ("(speed(agent2) 3)" 1911 1924)
  ("(speed(agent2) 4)" 1924 1949)
  ("(speed(agent2) 5)" 1949 1968)
  ("(speed(agent2) 4)" 1968 1983)
  ("(speed(agent2) 3)" 1983 2007)
  ("(speed(agent2) 2)" 2007 2015)
  ("(speed(agent2) 3)" 2015 2026)
  ("(speed(agent2) 4)" 2026 2051)
  ("(speed(agent2) 5)" 2051 2069)
  ("(speed(agent2) 4)" 2069 2080)
  ("(speed(agent2) 3)" 2080 2106)
  ("(speed(agent2) 2)" 2106 2120)
  ("(speed(agent2) 3)" 2120 2132)
  ("(speed(agent2) 4)" 2132 2157)
  ("(speed(agent2) 5)" 2157 2173)
  ("(speed(agent2) 4)" 2173 2183)
  ("(speed(agent2) 3)" 2183 2204)
  ("(speed(agent2) 2)" 2204 2223)
  ("(speed(agent2) 3)" 2223 2230)
  ("(speed(agent2) 4)" 2230 2282)
  ("(speed(agent2) 3)" 2282 2293)
  ("(speed(agent2) 2)" 2293 2312)
  ("(speed(agent2) 3)" 2312 2319)
  ("(speed(agent2) 4)" 2319 2335)
  ("(speed(agent2) down)" 1189 1201)
  ("(speed(agent2) stable)" 1201 1203)
  ("(speed(agent2) up)" 1203 1256)
  ("(speed(agent2) down)" 1256 1342)
  ("(speed(agent2) stable)" 1342 1343)
  ("(speed(agent2) up)" 1343 1394)
  ("(speed(agent2) stable)" 1394 1395)
  ("(speed(agent2) down)" 1395 1445)
  ("(speed(agent2) stable)" 1445 1446)
  ("(speed(agent2) up)" 1446 1496)
  ("(speed(agent2) down)" 1496 1547)
  ("(speed(agent2) up)" 1547 1597)
  ("(speed(agent2) down)" 1597 1648)
  ("(speed(agent2) up)" 1648 1700)
  ("(speed(agent2) down)" 1700 1751)
  ("(speed(agent2) stable)" 1751 1752)
  ("(speed(agent2) up)" 1752 1805)
  ("(speed(agent2) stable)" 1805 1806)
  ("(speed(agent2) down)" 1806 1857)
  ("(speed(agent2) stable)" 1857 1858)
  ("(speed(agent2) up)" 1858 1910)
  ("(speed(agent2) down)" 1910 1961)
  ("(speed(agent2) stable)" 1961 1962)
  ("(speed(agent2) up)" 1962 2011)
  ("(speed(agent2) stable)" 2011 2012)
  ("(speed(agent2) down)" 2012 2062)
  ("(speed(agent2) up)" 2062 2115)
  ("(speed(agent2) down)" 2115 2166)
  ("(speed(agent2) stable)" 2166 2167)
  ("(speed(agent2) up)" 2167 2215)
  ("(speed(agent2) down)" 2215 2238)
  ("(speed(agent2) stable)" 2238 2241)
  ("(speed(agent2) up)" 2241 2269)
  ("(speed(agent2) down)" 2269 2273)
  ("(speed(agent2) stable)" 2273 2274)
  ("(speed(agent2) up)" 2274 2303)
  ("(speed(agent2) down)" 2303 2335)
  ("(heading(agent2) 1)" 1213 1278)
  ("(heading(agent2) 2)" 1278 1284)
  ("(heading(agent2) 3)" 1284 1287)
  ("(heading(agent2) 4)" 1287 1290)
  ("(heading(agent2) 5)" 1290 1381)
  ("(heading(agent2) 4)" 1381 1389)
  ("(heading(agent2) 3)" 1389 1399)
  ("(heading(agent2) 2)" 1399 1420)
  ("(heading(agent2) 1)" 1420 1457)
  ("(heading(agent2) 2)" 1457 1477)
  ("(heading(agent2) 3)" 1477 1529)
  ("(heading(agent2) 4)" 1529 1546)
  ("(heading(agent2) 3)" 1546 1591)
  ("(heading(agent2) 2)" 1591 1660)
  ("(heading(agent2) 3)" 1660 2310)
  ("(heading(agent2) down)" 1214 1322)
  ("(heading(agent2) stable)" 1322 1339)
  ("(heading(agent2) up)" 1339 1438)
  ("(heading(agent2) stable)" 1438 1442)
  ("(heading(agent2) down)" 1442 1535)
  ("(heading(agent2) stable)" 1535 1541)
  ("(heading(agent2) up)" 1541 1591)
  ("(heading(agent2) stable)" 1591 1648)
  ("(heading(agent2) down)" 1648 1681)
  ("(heading(agent2) stable)" 1681 1974)
  ("(heading(agent2) down)" 1974 1987)
  ("(heading(agent2) stable)" 1987 2009)
  ("(heading(agent2) down)" 2009 2012)
  ("(heading(agent2) stable)" 2012 2044)
  ("(heading(agent2) down)" 2044 2047)
  ("(heading(agent2) stable)" 2047 2075)
  ("(heading(agent2) up)" 2075 2090)
  ("(heading(agent2) stable)" 2090 2174)
  ("(heading(agent2) down)" 2174 2191)
  ("(heading(agent2) stable)" 2191 2241)
  ("(heading(agent2) down)" 2241 2248)
  ("(heading(agent2) stable)" 2248 2285)
  ("(heading(agent2) up)" 2285 2289)
  ("(heading(agent2) stable)" 2289 2310)
  ("heard(agent1 agent2)" 1257 2360)
  ("novel(agent1 agent2)" 1258 1334)
  ("novel(agent1 agent2)" 1164 1243)
  ("collision(agent1 agent2)" 2294 2295)
  ("collision(agent1 agent2)" 2209 2211)
  ("collision(agent1 agent2)" 2103 2105)
  ("collision(agent1 agent2)" 2001 2003)
  ("collision(agent1 agent2)" 1901 1902)
  ("collision(agent1 agent2)" 1794 1797)
  ("collision(agent1 agent2)" 1688 1690)
  ("collision(agent1 agent2)" 1587 1590)
  ("collision(agent1 agent2)" 1485 1486)
  ("collision(agent1 agent2)" 1385 1387)
  ("collision(agent1 agent2)" 1281 1283)
  ("(distance(agent1 agent2) 1)" 1188 1256)
  ("(distance(agent1 agent2) 2)" 1256 1264)
  ("(distance(agent1 agent2) 3)" 1264 1275)
  ("(distance(agent1 agent2) 4)" 1275 1306)
  ("(distance(agent1 agent2) 3)" 1306 1329)
  ("(distance(agent1 agent2) 2)" 1329 1343)
  ("(distance(agent1 agent2) 3)" 1343 1364)
  ("(distance(agent1 agent2) 4)" 1364 1417)
  ("(distance(agent1 agent2) 3)" 1417 1462)
  ("(distance(agent1 agent2) 4)" 1462 1514)
  ("(distance(agent1 agent2) 3)" 1514 1567)
  ("(distance(agent1 agent2) 4)" 1567 1616)
  ("(distance(agent1 agent2) 3)" 1616 1668)
  ("(distance(agent1 agent2) 4)" 1668 1716)
  ("(distance(agent1 agent2) 3)" 1716 1736)
  ("(distance(agent1 agent2) 2)" 1736 1756)
  ("(distance(agent1 agent2) 3)" 1756 1775)
  ("(distance(agent1 agent2) 4)" 1775 1822)
  ("(distance(agent1 agent2) 3)" 1822 1841)
  ("(distance(agent1 agent2) 2)" 1841 1863)
  ("(distance(agent1 agent2) 3)" 1863 1882)
  ("(distance(agent1 agent2) 4)" 1882 1931)
  ("(distance(agent1 agent2) 3)" 1931 1981)
  ("(distance(agent1 agent2) 4)" 1981 2030)
  ("(distance(agent1 agent2) 3)" 2030 2083)
  ("(distance(agent1 agent2) 4)" 2083 2131)
  ("(distance(agent1 agent2) 3)" 2131 2151)
  ("(distance(agent1 agent2) 2)" 2151 2172)
  ("(distance(agent1 agent2) 3)" 2172 2190)
  ("(distance(agent1 agent2) 4)" 2190 2240)
  ("(distance(agent1 agent2) 3)" 2240 2272)
  ("(distance(agent1 agent2) 4)" 2272 2320)
  ("(distance(agent1 agent2) 3)" 2320 2335)
  ("(distance(agent1 agent2) down)" 1189 1290)
  ("(distance(agent1 agent2) stable)" 1290 1291)
  ("(distance(agent1 agent2) up)" 1291 1336)
  ("(distance(agent1 agent2) stable)" 1336 1337)
  ("(distance(agent1 agent2) down)" 1337 1390)
  ("(distance(agent1 agent2) stable)" 1390 1392)
  ("(distance(agent1 agent2) up)" 1392 1440)
  ("(distance(agent1 agent2) stable)" 1440 1442)
  ("(distance(agent1 agent2) down)" 1442 1490)
  ("(distance(agent1 agent2) stable)" 1490 1491)
  ("(distance(agent1 agent2) up)" 1491 1541)
  ("(distance(agent1 agent2) stable)" 1541 1543)
  ("(distance(agent1 agent2) down)" 1543 1592)
  ("(distance(agent1 agent2) stable)" 1592 1593)
  ("(distance(agent1 agent2) up)" 1593 1643)
  ("(distance(agent1 agent2) stable)" 1643 1644)
  ("(distance(agent1 agent2) down)" 1644 1693)
  ("(distance(agent1 agent2) stable)" 1693 1694)
  ("(distance(agent1 agent2) up)" 1694 1746)
  ("(distance(agent1 agent2) stable)" 1746 1747)
  ("(distance(agent1 agent2) down)" 1747 1799)
  ("(distance(agent1 agent2) stable)" 1799 1801)
  ("(distance(agent1 agent2) up)" 1801 1852)
  ("(distance(agent1 agent2) stable)" 1852 1854)
  ("(distance(agent1 agent2) down)" 1854 1906)
  ("(distance(agent1 agent2) stable)" 1906 1908)
  ("(distance(agent1 agent2) up)" 1908 1956)
  ("(distance(agent1 agent2) stable)" 1956 1958)
  ("(distance(agent1 agent2) down)" 1958 2006)
  ("(distance(agent1 agent2) stable)" 2006 2007)
  ("(distance(agent1 agent2) up)" 2007 2057)
  ("(distance(agent1 agent2) stable)" 2057 2058)
  ("(distance(agent1 agent2) down)" 2058 2108)
  ("(distance(agent1 agent2) stable)" 2108 2109)
  ("(distance(agent1 agent2) up)" 2109 2161)
  ("(distance(agent1 agent2) stable)" 2161 2162)
  ("(distance(agent1 agent2) down)" 2162 2214)
  ("(distance(agent1 agent2) stable)" 2214 2215)
  ("(distance(agent1 agent2) up)" 2215 2256)
  ("(distance(agent1 agent2) stable)" 2256 2258)
  ("(distance(agent1 agent2) down)" 2258 2297)
  ("(distance(agent1 agent2) stable)" 2297 2298)
  ("(distance(agent1 agent2) up)" 2298 2335)
  ("(relativeX(agent1 agent2) 5)" 1188 1229)
  ("(relativeX(agent1 agent2) 4)" 1229 1240)
  ("(relativeX(agent1 agent2) 3)" 1240 1249)
  ("(relativeX(agent1 agent2) 2)" 1249 1258)
  ("(relativeX(agent1 agent2) 1)" 1258 1296)
  ("(relativeX(agent1 agent2) 2)" 1296 1303)
  ("(relativeX(agent1 agent2) 3)" 1303 1309)
  ("(relativeX(agent1 agent2) 4)" 1309 1315)
  ("(relativeX(agent1 agent2) 5)" 1315 1355)
  ("(relativeX(agent1 agent2) 4)" 1355 1361)
  ("(relativeX(agent1 agent2) 3)" 1361 1366)
  ("(relativeX(agent1 agent2) 2)" 1366 1373)
  ("(relativeX(agent1 agent2) 1)" 1373 1413)
  ("(relativeX(agent1 agent2) 2)" 1413 1422)
  ("(relativeX(agent1 agent2) 3)" 1422 1431)
  ("(relativeX(agent1 agent2) 4)" 1431 1453)
  ("(relativeX(agent1 agent2) 3)" 1453 1461)
  ("(relativeX(agent1 agent2) 2)" 1461 1471)
  ("(relativeX(agent1 agent2) 1)" 1471 1504)
  ("(relativeX(agent1 agent2) 2)" 1504 1511)
  ("(relativeX(agent1 agent2) 3)" 1511 1517)
  ("(relativeX(agent1 agent2) 4)" 1517 1526)
  ("(relativeX(agent1 agent2) 5)" 1526 1556)
  ("(relativeX(agent1 agent2) 4)" 1556 1564)
  ("(relativeX(agent1 agent2) 3)" 1564 1569)
  ("(relativeX(agent1 agent2) 2)" 1569 1578)
  ("(relativeX(agent1 agent2) 1)" 1578 1607)
  ("(relativeX(agent1 agent2) 2)" 1607 1615)
  ("(relativeX(agent1 agent2) 3)" 1615 1621)
  ("(relativeX(agent1 agent2) 4)" 1621 1630)
  ("(relativeX(agent1 agent2) 5)" 1630 1655)
  ("(relativeX(agent1 agent2) 4)" 1655 1664)
  ("(relativeX(agent1 agent2) 3)" 1664 1670)
  ("(relativeX(agent1 agent2) 2)" 1670 1678)
  ("(relativeX(agent1 agent2) 1)" 1678 1707)
  ("(relativeX(agent1 agent2) 2)" 1707 1714)
  ("(relativeX(agent1 agent2) 3)" 1714 1720)
  ("(relativeX(agent1 agent2) 4)" 1720 1727)
  ("(relativeX(agent1 agent2) 5)" 1727 1765)
  ("(relativeX(agent1 agent2) 4)" 1765 1772)
  ("(relativeX(agent1 agent2) 3)" 1772 1777)
  ("(relativeX(agent1 agent2) 2)" 1777 1785)
  ("(relativeX(agent1 agent2) 1)" 1785 1813)
  ("(relativeX(agent1 agent2) 2)" 1813 1820)
  ("(relativeX(agent1 agent2) 3)" 1820 1826)
  ("(relativeX(agent1 agent2) 4)" 1826 1833)
  ("(relativeX(agent1 agent2) 5)" 1833 1871)
  ("(relativeX(agent1 agent2) 4)" 1871 1878)
  ("(relativeX(agent1 agent2) 3)" 1878 1884)
  ("(relativeX(agent1 agent2) 2)" 1884 1892)
  ("(relativeX(agent1 agent2) 1)" 1892 1921)
  ("(relativeX(agent1 agent2) 2)" 1921 1928)
  ("(relativeX(agent1 agent2) 3)" 1928 1935)
  ("(relativeX(agent1 agent2) 4)" 1935 1944)
  ("(relativeX(agent1 agent2) 5)" 1944 1968)
  ("(relativeX(agent1 agent2) 4)" 1968 1977)
  ("(relativeX(agent1 agent2) 3)" 1977 1983)
  ("(relativeX(agent1 agent2) 2)" 1983 1991)
  ("(relativeX(agent1 agent2) 1)" 1991 2020)
  ("(relativeX(agent1 agent2) 2)" 2020 2028)
  ("(relativeX(agent1 agent2) 3)" 2028 2034)
  ("(relativeX(agent1 agent2) 4)" 2034 2042)
  ("(relativeX(agent1 agent2) 5)" 2042 2072)
  ("(relativeX(agent1 agent2) 4)" 2072 2079)
  ("(relativeX(agent1 agent2) 3)" 2079 2085)
  ("(relativeX(agent1 agent2) 2)" 2085 2094)
  ("(relativeX(agent1 agent2) 1)" 2094 2122)
  ("(relativeX(agent1 agent2) 2)" 2122 2129)
  ("(relativeX(agent1 agent2) 3)" 2129 2135)
  ("(relativeX(agent1 agent2) 4)" 2135 2142)
  ("(relativeX(agent1 agent2) 5)" 2142 2180)
  ("(relativeX(agent1 agent2) 4)" 2180 2187)
  ("(relativeX(agent1 agent2) 3)" 2187 2193)
  ("(relativeX(agent1 agent2) 2)" 2193 2201)
  ("(relativeX(agent1 agent2) 1)" 2201 2228)
  ("(relativeX(agent1 agent2) 2)" 2228 2237)
  ("(relativeX(agent1 agent2) 3)" 2237 2245)
  ("(relativeX(agent1 agent2) 4)" 2245 2267)
  ("(relativeX(agent1 agent2) 3)" 2267 2275)
  ("(relativeX(agent1 agent2) 2)" 2275 2285)
  ("(relativeX(agent1 agent2) 1)" 2285 2310)
  ("(relativeX(agent1 agent2) 2)" 2310 2318)
  ("(relativeX(agent1 agent2) 3)" 2318 2324)
  ("(relativeX(agent1 agent2) 4)" 2324 2332)
  ("(relativeX(agent1 agent2) 5)" 2332 2335)
  ("(relativeX(agent1 agent2) up)" 1189 1278)
  ("(relativeX(agent1 agent2) down)" 1278 1336)
  ("(relativeX(agent1 agent2) up)" 1336 1393)
  ("(relativeX(agent1 agent2) stable)" 1393 1394)
  ("(relativeX(agent1 agent2) down)" 1394 1442)
  ("(relativeX(agent1 agent2) stable)" 1442 1443)
  ("(relativeX(agent1 agent2) up)" 1443 1488)
  ("(relativeX(agent1 agent2) stable)" 1488 1489)
  ("(relativeX(agent1 agent2) down)" 1489 1542)
  ("(relativeX(agent1 agent2) up)" 1542 1593)
  ("(relativeX(agent1 agent2) down)" 1593 1643)
  ("(relativeX(agent1 agent2) stable)" 1643 1644)
  ("(relativeX(agent1 agent2) up)" 1644 1693)
  ("(relativeX(agent1 agent2) stable)" 1693 1694)
  ("(relativeX(agent1 agent2) down)" 1694 1747)
  ("(relativeX(agent1 agent2) up)" 1747 1800)
  ("(relativeX(agent1 agent2) down)" 1800 1853)
  ("(relativeX(agent1 agent2) up)" 1853 1907)
  ("(relativeX(agent1 agent2) down)" 1907 1957)
  ("(relativeX(agent1 agent2) up)" 1957 2006)
  ("(relativeX(agent1 agent2) stable)" 2006 2007)
  ("(relativeX(agent1 agent2) down)" 2007 2058)
  ("(relativeX(agent1 agent2) up)" 2058 2109)
  ("(relativeX(agent1 agent2) down)" 2109 2162)
  ("(relativeX(agent1 agent2) up)" 2162 2214)
  ("(relativeX(agent1 agent2) stable)" 2214 2215)
  ("(relativeX(agent1 agent2) down)" 2215 2257)
  ("(relativeX(agent1 agent2) up)" 2257 2298)
  ("(relativeX(agent1 agent2) down)" 2298 2335)
  ("(relativeY(agent1 agent2) 5)" 1188 1263)
  ("(relativeY(agent1 agent2) 4)" 1263 1273)
  ("(relativeY(agent1 agent2) 3)" 1273 1285)
  ("(relativeY(agent1 agent2) 2)" 1285 1388)
  ("(relativeY(agent1 agent2) 3)" 1388 1477)
  ("(relativeY(agent1 agent2) 2)" 1477 1536)
  ("(relativeY(agent1 agent2) 3)" 1536 1554)
  ("(relativeY(agent1 agent2) 2)" 1554 1612)
  ("(relativeY(agent1 agent2) 3)" 1612 1670)
  ("(relativeY(agent1 agent2) 2)" 1670 1718)
  ("(relativeY(agent1 agent2) 3)" 1718 1774)
  ("(relativeY(agent1 agent2) 2)" 1774 1821)
  ("(relativeY(agent1 agent2) 3)" 1821 1883)
  ("(relativeY(agent1 agent2) 2)" 1883 1929)
  ("(relativeY(agent1 agent2) 3)" 1929 1981)
  ("(relativeY(agent1 agent2) 2)" 1981 2031)
  ("(relativeY(agent1 agent2) 3)" 2031 2083)
  ("(relativeY(agent1 agent2) 2)" 2083 2131)
  ("(relativeY(agent1 agent2) 3)" 2131 2189)
  ("(relativeY(agent1 agent2) 2)" 2189 2246)
  ("(relativeY(agent1 agent2) 3)" 2246 2266)
  ("(relativeY(agent1 agent2) 2)" 2266 2326)
  ("(relativeY(agent1 agent2) 3)" 2326 2335)
  ("(relativeY(agent1 agent2) up)" 1189 1306)
  ("(relativeY(agent1 agent2) stable)" 1306 1309)
  ("(relativeY(agent1 agent2) down)" 1309 1358)
  ("(relativeY(agent1 agent2) stable)" 1358 1361)
  ("(relativeY(agent1 agent2) down)" 1361 1434)
  ("(relativeY(agent1 agent2) stable)" 1434 1437)
  ("(relativeY(agent1 agent2) up)" 1437 1499)
  ("(relativeY(agent1 agent2) stable)" 1499 1503)
  ("(relativeY(agent1 agent2) down)" 1503 1543)
  ("(relativeY(agent1 agent2) stable)" 1543 1549)
  ("(relativeY(agent1 agent2) up)" 1549 1584)
  ("(relativeY(agent1 agent2) stable)" 1584 1590)
  ("(relativeY(agent1 agent2) down)" 1590 1640)
  ("(relativeY(agent1 agent2) stable)" 1640 1644)
  ("(relativeY(agent1 agent2) up)" 1644 1693)
  ("(relativeY(agent1 agent2) stable)" 1693 1697)
  ("(relativeY(agent1 agent2) down)" 1697 1745)
  ("(relativeY(agent1 agent2) stable)" 1745 1750)
  ("(relativeY(agent1 agent2) up)" 1750 1797)
  ("(relativeY(agent1 agent2) stable)" 1797 1801)
  ("(relativeY(agent1 agent2) down)" 1801 1851)
  ("(relativeY(agent1 agent2) stable)" 1851 1855)
  ("(relativeY(agent1 agent2) up)" 1855 1905)
  ("(relativeY(agent1 agent2) stable)" 1905 1909)
  ("(relativeY(agent1 agent2) down)" 1909 1954)
  ("(relativeY(agent1 agent2) stable)" 1954 1959)
  ("(relativeY(agent1 agent2) up)" 1959 2005)
  ("(relativeY(agent1 agent2) stable)" 2005 2010)
  ("(relativeY(agent1 agent2) down)" 2010 2056)
  ("(relativeY(agent1 agent2) stable)" 2056 2060)
  ("(relativeY(agent1 agent2) up)" 2060 2106)
  ("(relativeY(agent1 agent2) stable)" 2106 2111)
  ("(relativeY(agent1 agent2) down)" 2111 2159)
  ("(relativeY(agent1 agent2) stable)" 2159 2164)
  ("(relativeY(agent1 agent2) up)" 2164 2213)
  ("(relativeY(agent1 agent2) stable)" 2213 2218)
  ("(relativeY(agent1 agent2) down)" 2218 2255)
  ("(relativeY(agent1 agent2) stable)" 2255 2259)
  ("(relativeY(agent1 agent2) up)" 2259 2296)
  ("(relativeY(agent1 agent2) stable)" 2296 2301)
  ("(relativeY(agent1 agent2) down)" 2301 2335)
  ("(x(wall1) 3)" 126 591)
  ("(x(wall1) stable)" 127 591)
  ("(y(wall1) 3)" 126 591)
  ("(y(wall1) stable)" 127 591)
  ("(speed(wall1) 3)" 126 591)
  ("(speed(wall1) stable)" 127 591)
  ("(heading(wall1) 3)" 151 566)
  ("(heading(wall1) stable)" 152 566)
  ("novel(agent1 wall1)" 102 182)
  ("collision(agent1 wall1)" 447 472)
  ("(distance(agent1 wall1) 1)" 126 220)
  ("(distance(agent1 wall1) 2)" 220 262)
  ("(distance(agent1 wall1) 3)" 262 332)
  ("(distance(agent1 wall1) 4)" 332 432)
  ("(distance(agent1 wall1) 5)" 432 520)
  ("(distance(agent1 wall1) 4)" 520 591)
  ("(distance(agent1 wall1) down)" 127 456)
  ("(distance(agent1 wall1) stable)" 456 495)
  ("(distance(agent1 wall1) up)" 495 591)
  ("(relativeX(agent1 wall1) 1)" 126 220)
  ("(relativeX(agent1 wall1) 2)" 220 262)
  ("(relativeX(agent1 wall1) 3)" 262 332)
  ("(relativeX(agent1 wall1) 4)" 332 432)
  ("(relativeX(agent1 wall1) 5)" 432 520)
  ("(relativeX(agent1 wall1) 4)" 520 591)
  ("(relativeX(agent1 wall1) down)" 127 456)
  ("(relativeX(agent1 wall1) stable)" 456 495)
  ("(relativeX(agent1 wall1) up)" 495 591)
  ("(relativeY(agent1 wall1) 1)" 126 281)
  ("(relativeY(agent1 wall1) 2)" 281 363)
  ("(relativeY(agent1 wall1) 3)" 363 416)
  ("(relativeY(agent1 wall1) 4)" 416 474)
  ("(relativeY(agent1 wall1) 5)" 474 591)
  ("(relativeY(agent1 wall1) up)" 127 169)
  ("(relativeY(agent1 wall1) stable)" 169 220)
  ("(relativeY(agent1 wall1) down)" 220 591)
  ("(x(wall4) 3)" 25 210)
  ("(x(wall4) stable)" 26 210)
  ("(y(wall4) 3)" 25 210)
  ("(y(wall4) stable)" 26 210)
  ("(speed(wall4) 3)" 25 210)
  ("(speed(wall4) stable)" 26 210)
  ("(heading(wall4) 3)" 50 185)
  ("(heading(wall4) stable)" 51 185)
  ("(distance(agent1 wall4) 1)" 25 73)
  ("(distance(agent1 wall4) 2)" 73 96)
  ("(distance(agent1 wall4) 3)" 96 118)
  ("(distance(agent1 wall4) 4)" 118 152)
  ("(distance(agent1 wall4) 5)" 152 210)
  ("(distance(agent1 wall4) down)" 26 193)
  ("(distance(agent1 wall4) stable)" 193 199)
  ("(distance(agent1 wall4) up)" 199 210)
  ("(relativeX(agent1 wall4) 1)" 25 76)
  ("(relativeX(agent1 wall4) 2)" 76 109)
  ("(relativeX(agent1 wall4) 3)" 109 135)
  ("(relativeX(agent1 wall4) 4)" 135 163)
  ("(relativeX(agent1 wall4) 5)" 163 210)
  ("(relativeX(agent1 wall4) down)" 26 210)
  ("(relativeY(agent1 wall4) 5)" 25 73)
  ("(relativeY(agent1 wall4) 4)" 73 96)
  ("(relativeY(agent1 wall4) 3)" 96 118)
  ("(relativeY(agent1 wall4) 2)" 118 152)
  ("(relativeY(agent1 wall4) 1)" 152 210)
  ("(relativeY(agent1 wall4) up)" 26 193)
  ("(relativeY(agent1 wall4) stable)" 193 199)
  ("(relativeY(agent1 wall4) down)" 199 210)
 ))
(15
 (
  ("(x(agent1) 5)" 25 111)
  ("(x(agent1) 4)" 111 172)
  ("(x(agent1) 3)" 172 223)
  ("(x(agent1) 2)" 223 285)
  ("(x(agent1) 1)" 285 825)
  ("(x(agent1) 2)" 825 887)
  ("(x(agent1) 3)" 887 937)
  ("(x(agent1) 4)" 937 2386)
  ("(x(agent1) up)" 26 531)
  ("(x(agent1) stable)" 531 581)
  ("(x(agent1) down)" 581 998)
  ("(x(agent1) stable)" 998 1006)
  ("(x(agent1) up)" 1006 1040)
  ("(x(agent1) stable)" 1040 1059)
  ("(x(agent1) down)" 1059 1080)
  ("(x(agent1) stable)" 1080 1098)
  ("(x(agent1) up)" 1098 1145)
  ("(x(agent1) stable)" 1145 1158)
  ("(x(agent1) down)" 1158 1199)
  ("(x(agent1) stable)" 1199 1214)
  ("(x(agent1) up)" 1214 1244)
  ("(x(agent1) stable)" 1244 1263)
  ("(x(agent1) down)" 1263 1286)
  ("(x(agent1) stable)" 1286 1307)
  ("(x(agent1) up)" 1307 1340)
  ("(x(agent1) stable)" 1340 1357)
  ("(x(agent1) down)" 1357 1390)
  ("(x(agent1) stable)" 1390 1407)
  ("(x(agent1) up)" 1407 1444)
  ("(x(agent1) stable)" 1444 1462)
  ("(x(agent1) down)" 1462 1497)
  ("(x(agent1) stable)" 1497 1514)
  ("(x(agent1) up)" 1514 1552)
  ("(x(agent1) stable)" 1552 1569)
  ("(x(agent1) down)" 1569 1606)
  ("(x(agent1) stable)" 1606 1623)
  ("(x(agent1) up)" 1623 1656)
  ("(x(agent1) stable)" 1656 1673)
  ("(x(agent1) down)" 1673 1707)
  ("(x(agent1) stable)" 1707 1724)
  ("(x(agent1) up)" 1724 1761)
  ("(x(agent1) stable)" 1761 1778)
  ("(x(agent1) down)" 1778 1815)
  ("(x(agent1) stable)" 1815 1831)
  ("(x(agent1) up)" 1831 1868)
  ("(x(agent1) stable)" 1868 1882)
  ("(x(agent1) down)" 1882 1916)
  ("(x(agent1) stable)" 1916 1931)
  ("(x(agent1) up)" 1931 1967)
  ("(x(agent1) stable)" 1967 1981)
  ("(x(agent1) down)" 1981 2014)
  ("(x(agent1) stable)" 2014 2028)
  ("(x(agent1) up)" 2028 2067)
  ("(x(agent1) stable)" 2067 2081)
  ("(x(agent1) down)" 2081 2118)
  ("(x(agent1) stable)" 2118 2131)
  ("(x(agent1) up)" 2131 2173)
  ("(x(agent1) stable)" 2173 2185)
  ("(x(agent1) down)" 2185 2228)
  ("(x(agent1) stable)" 2228 2240)
  ("(x(agent1) up)" 2240 2281)
  ("(x(agent1) stable)" 2281 2294)
  ("(x(agent1) down)" 2294 2336)
  ("(x(agent1) stable)" 2336 2349)
  ("(x(agent1) up)" 2349 2384)
  ("(x(agent1) stable)" 2384 2386)
  ("(y(agent1) 5)" 25 544)
  ("(y(agent1) 4)" 544 659)
  ("(y(agent1) 3)" 659 778)
  ("(y(agent1) 2)" 778 2386)
  ("(y(agent1) stable)" 26 200)
  ("(y(agent1) up)" 200 941)
  ("(y(agent1) stable)" 941 968)
  ("(y(agent1) up)" 968 1022)
  ("(y(agent1) stable)" 1022 1049)
  ("(y(agent1) down)" 1049 1094)
  ("(y(agent1) stable)" 1094 1170)
  ("(y(agent1) down)" 1170 1174)
  ("(y(agent1) stable)" 1174 1215)
  ("(y(agent1) up)" 1215 1233)
  ("(y(agent1) stable)" 1233 1263)
  ("(y(agent1) down)" 1263 1286)
  ("(y(agent1) stable)" 1286 1317)
  ("(y(agent1) up)" 1317 1332)
  ("(y(agent1) stable)" 1332 1364)
  ("(y(agent1) down)" 1364 1379)
  ("(y(agent1) stable)" 1379 1411)
  ("(y(agent1) up)" 1411 1437)
  ("(y(agent1) stable)" 1437 1466)
  ("(y(agent1) down)" 1466 1493)
  ("(y(agent1) stable)" 1493 1519)
  ("(y(agent1) up)" 1519 1546)
  ("(y(agent1) stable)" 1546 1574)
  ("(y(agent1) down)" 1574 1600)
  ("(y(agent1) stable)" 1600 1629)
  ("(y(agent1) up)" 1629 1648)
  ("(y(agent1) stable)" 1648 1679)
  ("(y(agent1) down)" 1679 1698)
  ("(y(agent1) stable)" 1698 1728)
  ("(y(agent1) up)" 1728 1755)
  ("(y(agent1) stable)" 1755 1784)
  ("(y(agent1) down)" 1784 1809)
  ("(y(agent1) stable)" 1809 1836)
  ("(y(agent1) up)" 1836 1861)
  ("(y(agent1) stable)" 1861 1887)
  ("(y(agent1) down)" 1887 1910)
  ("(y(agent1) stable)" 1910 1935)
  ("(y(agent1) up)" 1935 1960)
  ("(y(agent1) stable)" 1960 1983)
  ("(y(agent1) down)" 1983 2010)
  ("(y(agent1) stable)" 2010 2033)
  ("(y(agent1) up)" 2033 2062)
  ("(y(agent1) stable)" 2062 2085)
  ("(y(agent1) down)" 2085 2114)
  ("(y(agent1) stable)" 2114 2135)
  ("(y(agent1) up)" 2135 2169)
  ("(y(agent1) stable)" 2169 2191)
  ("(y(agent1) down)" 2191 2222)
  ("(y(agent1) stable)" 2222 2243)
  ("(y(agent1) up)" 2243 2276)
  ("(y(agent1) stable)" 2276 2299)
  ("(y(agent1) down)" 2299 2331)
  ("(y(agent1) stable)" 2331 2353)
  ("(y(agent1) up)" 2353 2378)
  ("(y(agent1) stable)" 2378 2386)
  ("(speed(agent1) 5)" 25 26)
  ("(speed(agent1) 4)" 26 41)
  ("(speed(agent1) 3)" 41 60)
  ("(speed(agent1) 2)" 60 101)
  ("(speed(agent1) 1)" 101 970)
  ("(speed(agent1) 2)" 970 985)
  ("(speed(agent1) 3)" 985 999)
  ("(speed(agent1) 4)" 999 1015)
  ("(speed(agent1) 5)" 1015 1061)
  ("(speed(agent1) 4)" 1061 1119)
  ("(speed(agent1) 5)" 1119 1179)
  ("(speed(agent1) 4)" 1179 1218)
  ("(speed(agent1) 5)" 1218 1283)
  ("(speed(agent1) 4)" 1283 1315)
  ("(speed(agent1) 5)" 1315 1382)
  ("(speed(agent1) 4)" 1382 1418)
  ("(speed(agent1) 5)" 1418 1475)
  ("(speed(agent1) 4)" 1475 1529)
  ("(speed(agent1) 5)" 1529 1583)
  ("(speed(agent1) 4)" 1583 1631)
  ("(speed(agent1) 5)" 1631 1694)
  ("(speed(agent1) 4)" 1694 1735)
  ("(speed(agent1) 5)" 1735 1792)
  ("(speed(agent1) 4)" 1792 1845)
  ("(speed(agent1) 5)" 1845 1891)
  ("(speed(agent1) 4)" 1891 1953)
  ("(speed(agent1) 5)" 1953 1988)
  ("(speed(agent1) 4)" 1988 2059)
  ("(speed(agent1) 5)" 2059 2089)
  ("(speed(agent1) 4)" 2089 2168)
  ("(speed(agent1) 5)" 2168 2194)
  ("(speed(agent1) 4)" 2194 2235)
  ("(speed(agent1) 3)" 2235 2243)
  ("(speed(agent1) 4)" 2243 2276)
  ("(speed(agent1) 5)" 2276 2302)
  ("(speed(agent1) 4)" 2302 2372)
  ("(speed(agent1) 5)" 2372 2386)
  ("(speed(agent1) up)" 26 203)
  ("(speed(agent1) stable)" 203 958)
  ("(speed(agent1) down)" 958 1045)
  ("(speed(agent1) stable)" 1045 1046)
  ("(speed(agent1) up)" 1046 1103)
  ("(speed(agent1) down)" 1103 1156)
  ("(speed(agent1) up)" 1156 1205)
  ("(speed(agent1) stable)" 1205 1206)
  ("(speed(agent1) down)" 1206 1256)
  ("(speed(agent1) up)" 1256 1304)
  ("(speed(agent1) stable)" 1304 1305)
  ("(speed(agent1) down)" 1305 1354)
  ("(speed(agent1) stable)" 1354 1355)
  ("(speed(agent1) up)" 1355 1406)
  ("(speed(agent1) down)" 1406 1457)
  ("(speed(agent1) stable)" 1457 1458)
  ("(speed(agent1) up)" 1458 1513)
  ("(speed(agent1) down)" 1513 1565)
  ("(speed(agent1) stable)" 1565 1566)
  ("(speed(agent1) up)" 1566 1618)
  ("(speed(agent1) down)" 1618 1669)
  ("(speed(agent1) stable)" 1669 1670)
  ("(speed(agent1) up)" 1670 1722)
  ("(speed(agent1) stable)" 1722 1723)
  ("(speed(agent1) down)" 1723 1774)
  ("(speed(agent1) stable)" 1774 1775)
  ("(speed(agent1) up)" 1775 1830)
  ("(speed(agent1) down)" 1830 1875)
  ("(speed(agent1) stable)" 1875 1880)
  ("(speed(agent1) up)" 1880 1928)
  ("(speed(agent1) stable)" 1928 1929)
  ("(speed(agent1) down)" 1929 1978)
  ("(speed(agent1) up)" 1978 2028)
  ("(speed(agent1) down)" 2028 2078)
  ("(speed(agent1) stable)" 2078 2079)
  ("(speed(agent1) up)" 2079 2132)
  ("(speed(agent1) stable)" 2132 2133)
  ("(speed(agent1) down)" 2133 2184)
  ("(speed(agent1) stable)" 2184 2185)
  ("(speed(agent1) up)" 2185 2240)
  ("(speed(agent1) down)" 2240 2292)
  ("(speed(agent1) stable)" 2292 2293)
  ("(speed(agent1) up)" 2293 2344)
  ("(speed(agent1) down)" 2344 2386)
  ("(heading(agent1) 1)" 50 105)
  ("(heading(agent1) 5)" 105 627)
  ("(heading(agent1) 4)" 627 829)
  ("(heading(agent1) 3)" 829 1003)
  ("(heading(agent1) 2)" 1003 2361)
  ("(heading(agent1) up)" 51 1083)
  ("(heading(agent1) stable)" 1083 1091)
  ("(heading(agent1) down)" 1091 1142)
  ("(heading(agent1) stable)" 1142 1181)
  ("(heading(agent1) up)" 1181 1280)
  ("(heading(agent1) stable)" 1280 2361)
  ("(energy(agent1) 1)" 25 970)
  ("(energy(agent1) 2)" 970 1286)
  ("(energy(agent1) 3)" 1286 1525)
  ("(energy(agent1) 4)" 1525 1861)
  ("(energy(agent1) 5)" 1861 2386)
  ("(energy(agent1) stable)" 26 959)
  ("(energy(agent1) down)" 959 1010)
  ("(energy(agent1) stable)" 1010 1068)
  ("(energy(agent1) down)" 1068 1119)
  ("(energy(agent1) stable)" 1119 1173)
  ("(energy(agent1) down)" 1173 1224)
  ("(energy(agent1) stable)" 1224 1271)
  ("(energy(agent1) down)" 1271 1322)
  ("(energy(agent1) stable)" 1322 1369)
  ("(energy(agent1) down)" 1369 1420)
  ("(energy(agent1) stable)" 1420 1477)
  ("(energy(agent1) down)" 1477 1528)
  ("(energy(agent1) stable)" 1528 1585)
  ("(energy(agent1) down)" 1585 1636)
  ("(energy(agent1) stable)" 1636 1686)
  ("(energy(agent1) down)" 1686 1737)
  ("(energy(agent1) stable)" 1737 1794)
  ("(energy(agent1) down)" 1794 1845)
  ("(energy(agent1) stable)" 1845 1895)
  ("(energy(agent1) down)" 1895 1946)
  ("(energy(agent1) stable)" 1946 1993)
  ("(energy(agent1) down)" 1993 2044)
  ("(energy(agent1) stable)" 2044 2096)
  ("(energy(agent1) down)" 2096 2147)
  ("(energy(agent1) stable)" 2147 2204)
  ("(energy(agent1) down)" 2204 2255)
  ("(energy(agent1) stable)" 2255 2312)
  ("(energy(agent1) down)" 2312 2363)
  ("(energy(agent1) stable)" 2363 2386)
  ("(arousal(agent1) 4)" 25 309)
  ("(arousal(agent1) 5)" 309 993)
  ("(arousal(agent1) 4)" 993 1097)
  ("(arousal(agent1) 3)" 1097 1188)
  ("(arousal(agent1) 2)" 1188 1387)
  ("(arousal(agent1) 1)" 1387 2386)
  ("(arousal(agent1) down)" 26 859)
  ("(arousal(agent1) stable)" 859 882)
  ("(arousal(agent1) up)" 882 1042)
  ("(arousal(agent1) stable)" 1042 1065)
  ("(arousal(agent1) down)" 1065 1067)
  ("(arousal(agent1) up)" 1067 1223)
  ("(arousal(agent1) down)" 1223 1270)
  ("(arousal(agent1) up)" 1270 1321)
  ("(arousal(agent1) down)" 1321 1368)
  ("(arousal(agent1) up)" 1368 1419)
  ("(arousal(agent1) down)" 1419 1476)
  ("(arousal(agent1) up)" 1476 1527)
  ("(arousal(agent1) down)" 1527 1584)
  ("(arousal(agent1) up)" 1584 1635)
  ("(arousal(agent1) down)" 1635 1685)
  ("(arousal(agent1) up)" 1685 1736)
  ("(arousal(agent1) down)" 1736 1793)
  ("(arousal(agent1) up)" 1793 1844)
  ("(arousal(agent1) down)" 1844 1894)
  ("(arousal(agent1) up)" 1894 1945)
  ("(arousal(agent1) down)" 1945 1992)
  ("(arousal(agent1) up)" 1992 2043)
  ("(arousal(agent1) down)" 2043 2095)
  ("(arousal(agent1) up)" 2095 2146)
  ("(arousal(agent1) down)" 2146 2203)
  ("(arousal(agent1) up)" 2203 2254)
  ("(arousal(agent1) down)" 2254 2311)
  ("(arousal(agent1) up)" 2311 2362)
  ("(arousal(agent1) down)" 2362 2386)
  ("(valence(agent1) 5)" 25 973)
  ("(valence(agent1) 4)" 973 1001)
  ("(valence(agent1) 3)" 1001 1095)
  ("(valence(agent1) 2)" 1095 1207)
  ("(valence(agent1) 1)" 1207 2386)
  ("(valence(agent1) stable)" 26 958)
  ("(valence(agent1) up)" 958 1009)
  ("(valence(agent1) down)" 1009 1067)
  ("(valence(agent1) up)" 1067 1118)
  ("(valence(agent1) down)" 1118 1172)
  ("(valence(agent1) up)" 1172 1223)
  ("(valence(agent1) down)" 1223 1270)
  ("(valence(agent1) up)" 1270 1321)
  ("(valence(agent1) down)" 1321 1368)
  ("(valence(agent1) up)" 1368 1419)
  ("(valence(agent1) down)" 1419 1476)
  ("(valence(agent1) up)" 1476 1527)
  ("(valence(agent1) down)" 1527 1584)
  ("(valence(agent1) up)" 1584 1635)
  ("(valence(agent1) down)" 1635 1685)
  ("(valence(agent1) up)" 1685 1736)
  ("(valence(agent1) down)" 1736 1793)
  ("(valence(agent1) up)" 1793 1844)
  ("(valence(agent1) down)" 1844 1894)
  ("(valence(agent1) up)" 1894 1945)
  ("(valence(agent1) down)" 1945 1992)
  ("(valence(agent1) up)" 1992 2043)
  ("(valence(agent1) down)" 2043 2095)
  ("(valence(agent1) up)" 2095 2146)
  ("(valence(agent1) down)" 2146 2203)
  ("(valence(agent1) up)" 2203 2254)
  ("(valence(agent1) down)" 2254 2311)
  ("(valence(agent1) up)" 2311 2362)
  ("(valence(agent1) down)" 2362 2386)
  ("(goal(agent1) WanderGoal)" 0 879)
  ("(goal(agent1) PursueGoal)" 879 2411)
  ("(state(agent1) wander)" 0 879)
  ("(state(agent1) charge)" 879 983)
  ("(state(agent1) back-away)" 983 1017)
  ("(state(agent1) charge)" 1017 1092)
  ("(state(agent1) back-away)" 1092 1126)
  ("(state(agent1) charge)" 1126 1197)
  ("(state(agent1) back-away)" 1197 1227)
  ("(state(agent1) charge)" 1227 1295)
  ("(state(agent1) back-away)" 1295 1325)
  ("(state(agent1) charge)" 1325 1393)
  ("(state(agent1) back-away)" 1393 1427)
  ("(state(agent1) charge)" 1427 1501)
  ("(state(agent1) back-away)" 1501 1535)
  ("(state(agent1) charge)" 1535 1609)
  ("(state(agent1) back-away)" 1609 1640)
  ("(state(agent1) charge)" 1640 1710)
  ("(state(agent1) back-away)" 1710 1744)
  ("(state(agent1) charge)" 1744 1818)
  ("(state(agent1) back-away)" 1818 1852)
  ("(state(agent1) charge)" 1852 1919)
  ("(state(agent1) back-away)" 1919 1949)
  ("(state(agent1) charge)" 1949 2017)
  ("(state(agent1) back-away)" 2017 2049)
  ("(state(agent1) charge)" 2049 2120)
  ("(state(agent1) back-away)" 2120 2154)
  ("(state(agent1) charge)" 2154 2228)
  ("(state(agent1) back-away)" 2228 2262)
  ("(state(agent1) charge)" 2262 2336)
  ("(state(agent1) back-away)" 2336 2366)
  ("(state(agent1) charge)" 2366 2411)
  ("(x(agent2) 5)" 903 972)
  ("(x(agent2) 4)" 972 975)
  ("(x(agent2) 4)" 1032 1067)
  ("(x(agent2) 3)" 1067 1114)
  ("(x(agent2) 4)" 1114 1170)
  ("(x(agent2) 3)" 1170 1186)
  ("(x(agent2) 2)" 1186 1234)
  ("(x(agent2) 3)" 1234 1267)
  ("(x(agent2) 2)" 1267 1325)
  ("(x(agent2) 3)" 1325 1369)
  ("(x(agent2) 2)" 1369 1427)
  ("(x(agent2) 3)" 1427 1475)
  ("(x(agent2) 2)" 1475 1534)
  ("(x(agent2) 3)" 1534 1586)
  ("(x(agent2) 2)" 1586 1641)
  ("(x(agent2) 3)" 1641 1686)
  ("(x(agent2) 2)" 1686 1742)
  ("(x(agent2) 3)" 1742 1796)
  ("(x(agent2) 2)" 1796 1848)
  ("(x(agent2) 3)" 1848 1898)
  ("(x(agent2) 2)" 1898 1950)
  ("(x(agent2) 3)" 1950 1992)
  ("(x(agent2) 2)" 1992 2048)
  ("(x(agent2) 3)" 2048 2098)
  ("(x(agent2) 2)" 2098 2147)
  ("(x(agent2) 3)" 2147 2166)
  ("(x(agent2) 4)" 2166 2193)
  ("(x(agent2) 3)" 2193 2212)
  ("(x(agent2) 2)" 2212 2253)
  ("(x(agent2) 3)" 2253 2273)
  ("(x(agent2) 4)" 2273 2301)
  ("(x(agent2) 3)" 2301 2320)
  ("(x(agent2) 2)" 2320 2365)
  ("(x(agent2) 3)" 2365 2386)
  ("(x(agent2) up)" 904 975)
  ("(x(agent2) down)" 1033 1048)
  ("(x(agent2) stable)" 1048 1050)
  ("(x(agent2) up)" 1050 1092)
  ("(x(agent2) stable)" 1092 1094)
  ("(x(agent2) down)" 1094 1144)
  ("(x(agent2) stable)" 1144 1145)
  ("(x(agent2) up)" 1145 1208)
  ("(x(agent2) stable)" 1208 1210)
  ("(x(agent2) down)" 1210 1251)
  ("(x(agent2) stable)" 1251 1253)
  ("(x(agent2) up)" 1253 1297)
  ("(x(agent2) stable)" 1297 1299)
  ("(x(agent2) down)" 1299 1348)
  ("(x(agent2) stable)" 1348 1349)
  ("(x(agent2) up)" 1349 1399)
  ("(x(agent2) stable)" 1399 1400)
  ("(x(agent2) down)" 1400 1451)
  ("(x(agent2) stable)" 1451 1453)
  ("(x(agent2) up)" 1453 1506)
  ("(x(agent2) stable)" 1506 1507)
  ("(x(agent2) down)" 1507 1560)
  ("(x(agent2) stable)" 1560 1562)
  ("(x(agent2) up)" 1562 1614)
  ("(x(agent2) stable)" 1614 1615)
  ("(x(agent2) down)" 1615 1664)
  ("(x(agent2) stable)" 1664 1666)
  ("(x(agent2) up)" 1666 1715)
  ("(x(agent2) stable)" 1715 1717)
  ("(x(agent2) down)" 1717 1769)
  ("(x(agent2) stable)" 1769 1771)
  ("(x(agent2) up)" 1771 1823)
  ("(x(agent2) stable)" 1823 1825)
  ("(x(agent2) down)" 1825 1874)
  ("(x(agent2) stable)" 1874 1876)
  ("(x(agent2) up)" 1876 1924)
  ("(x(agent2) stable)" 1924 1926)
  ("(x(agent2) down)" 1926 1972)
  ("(x(agent2) stable)" 1972 1973)
  ("(x(agent2) up)" 1973 2021)
  ("(x(agent2) stable)" 2021 2023)
  ("(x(agent2) down)" 2023 2074)
  ("(x(agent2) stable)" 2074 2075)
  ("(x(agent2) up)" 2075 2124)
  ("(x(agent2) stable)" 2124 2125)
  ("(x(agent2) down)" 2125 2180)
  ("(x(agent2) stable)" 2180 2181)
  ("(x(agent2) up)" 2181 2233)
  ("(x(agent2) stable)" 2233 2235)
  ("(x(agent2) down)" 2235 2287)
  ("(x(agent2) stable)" 2287 2288)
  ("(x(agent2) up)" 2288 2342)
  ("(x(agent2) stable)" 2342 2343)
  ("(x(agent2) down)" 2343 2386)
  ("(y(agent2) 1)" 903 975)
  ("(y(agent2) 4)" 1032 1056)
  ("(y(agent2) 3)" 1056 1067)
  ("(y(agent2) 2)" 1067 1079)
  ("(y(agent2) 1)" 1079 1127)
  ("(y(agent2) 2)" 1127 1147)
  ("(y(agent2) 3)" 1147 1166)
  ("(y(agent2) 2)" 1166 1218)
  ("(y(agent2) 3)" 1218 1231)
  ("(y(agent2) 4)" 1231 1269)
  ("(y(agent2) 3)" 1269 1283)
  ("(y(agent2) 2)" 1283 1319)
  ("(y(agent2) 3)" 1319 1335)
  ("(y(agent2) 4)" 1335 1363)
  ("(y(agent2) 3)" 1363 1379)
  ("(y(agent2) 2)" 1379 1412)
  ("(y(agent2) 3)" 1412 1424)
  ("(y(agent2) 4)" 1424 1441)
  ("(y(agent2) 5)" 1441 1463)
  ("(y(agent2) 4)" 1463 1479)
  ("(y(agent2) 3)" 1479 1494)
  ("(y(agent2) 2)" 1494 1518)
  ("(y(agent2) 3)" 1518 1531)
  ("(y(agent2) 4)" 1531 1549)
  ("(y(agent2) 5)" 1549 1571)
  ("(y(agent2) 4)" 1571 1587)
  ("(y(agent2) 3)" 1587 1602)
  ("(y(agent2) 2)" 1602 1628)
  ("(y(agent2) 3)" 1628 1643)
  ("(y(agent2) 4)" 1643 1685)
  ("(y(agent2) 3)" 1685 1700)
  ("(y(agent2) 2)" 1700 1729)
  ("(y(agent2) 3)" 1729 1742)
  ("(y(agent2) 4)" 1742 1761)
  ("(y(agent2) 5)" 1761 1776)
  ("(y(agent2) 4)" 1776 1795)
  ("(y(agent2) 3)" 1795 1808)
  ("(y(agent2) 2)" 1808 1838)
  ("(y(agent2) 3)" 1838 1850)
  ("(y(agent2) 4)" 1850 1875)
  ("(y(agent2) 5)" 1875 1876)
  ("(y(agent2) 4)" 1876 1898)
  ("(y(agent2) 3)" 1898 1913)
  ("(y(agent2) 2)" 1913 1932)
  ("(y(agent2) 3)" 1932 1945)
  ("(y(agent2) 4)" 1945 1960)
  ("(y(agent2) 5)" 1960 1986)
  ("(y(agent2) 4)" 1986 2000)
  ("(y(agent2) 3)" 2000 2041)
  ("(y(agent2) 4)" 2041 2054)
  ("(y(agent2) 5)" 2054 2091)
  ("(y(agent2) 4)" 2091 2104)
  ("(y(agent2) 3)" 2104 2122)
  ("(y(agent2) 2)" 2122 2129)
  ("(y(agent2) 3)" 2129 2145)
  ("(y(agent2) 4)" 2145 2157)
  ("(y(agent2) 5)" 2157 2199)
  ("(y(agent2) 4)" 2199 2211)
  ("(y(agent2) 3)" 2211 2225)
  ("(y(agent2) 2)" 2225 2241)
  ("(y(agent2) 3)" 2241 2254)
  ("(y(agent2) 4)" 2254 2266)
  ("(y(agent2) 5)" 2266 2308)
  ("(y(agent2) 4)" 2308 2320)
  ("(y(agent2) 3)" 2320 2336)
  ("(y(agent2) 2)" 2336 2346)
  ("(y(agent2) 3)" 2346 2362)
  ("(y(agent2) 4)" 2362 2376)
  ("(y(agent2) 5)" 2376 2386)
  ("(y(agent2) down)" 904 975)
  ("(y(agent2) down)" 1033 1040)
  ("(y(agent2) up)" 1040 1103)
  ("(y(agent2) down)" 1103 1157)
  ("(y(agent2) stable)" 1157 1158)
  ("(y(agent2) up)" 1158 1195)
  ("(y(agent2) stable)" 1195 1197)
  ("(y(agent2) down)" 1197 1251)
  ("(y(agent2) up)" 1251 1301)
  ("(y(agent2) stable)" 1301 1302)
  ("(y(agent2) down)" 1302 1349)
  ("(y(agent2) stable)" 1349 1350)
  ("(y(agent2) up)" 1350 1397)
  ("(y(agent2) stable)" 1397 1398)
  ("(y(agent2) down)" 1398 1453)
  ("(y(agent2) up)" 1453 1507)
  ("(y(agent2) down)" 1507 1560)
  ("(y(agent2) stable)" 1560 1561)
  ("(y(agent2) up)" 1561 1615)
  ("(y(agent2) stable)" 1615 1616)
  ("(y(agent2) down)" 1616 1665)
  ("(y(agent2) up)" 1665 1715)
  ("(y(agent2) stable)" 1715 1716)
  ("(y(agent2) down)" 1716 1769)
  ("(y(agent2) stable)" 1769 1770)
  ("(y(agent2) up)" 1770 1824)
  ("(y(agent2) down)" 1824 1875)
  ("(y(agent2) stable)" 1875 1876)
  ("(y(agent2) up)" 1876 1923)
  ("(y(agent2) stable)" 1923 1924)
  ("(y(agent2) down)" 1924 1973)
  ("(y(agent2) stable)" 1973 1974)
  ("(y(agent2) up)" 1974 2022)
  ("(y(agent2) stable)" 2022 2023)
  ("(y(agent2) down)" 2023 2074)
  ("(y(agent2) up)" 2074 2126)
  ("(y(agent2) down)" 2126 2179)
  ("(y(agent2) stable)" 2179 2180)
  ("(y(agent2) up)" 2180 2234)
  ("(y(agent2) down)" 2234 2288)
  ("(y(agent2) up)" 2288 2341)
  ("(y(agent2) stable)" 2341 2342)
  ("(y(agent2) down)" 2342 2386)
  ("(speed(agent2) 1)" 903 975)
  ("(speed(agent2) 4)" 1032 1040)
  ("(speed(agent2) 5)" 1040 1053)
  ("(speed(agent2) 4)" 1053 1064)
  ("(speed(agent2) 3)" 1064 1115)
  ("(speed(agent2) 4)" 1115 1170)
  ("(speed(agent2) 3)" 1170 1218)
  ("(speed(agent2) 4)" 1218 1236)
  ("(speed(agent2) 5)" 1236 1265)
  ("(speed(agent2) 4)" 1265 1285)
  ("(speed(agent2) 3)" 1285 1315)
  ("(speed(agent2) 4)" 1315 1333)
  ("(speed(agent2) 5)" 1333 1363)
  ("(speed(agent2) 4)" 1363 1383)
  ("(speed(agent2) 3)" 1383 1418)
  ("(speed(agent2) 4)" 1418 1443)
  ("(speed(agent2) 5)" 1443 1466)
  ("(speed(agent2) 4)" 1466 1475)
  ("(speed(agent2) 3)" 1475 1526)
  ("(speed(agent2) 4)" 1526 1551)
  ("(speed(agent2) 5)" 1551 1574)
  ("(speed(agent2) 4)" 1574 1583)
  ("(speed(agent2) 3)" 1583 1631)
  ("(speed(agent2) 4)" 1631 1652)
  ("(speed(agent2) 5)" 1652 1678)
  ("(speed(agent2) 4)" 1678 1696)
  ("(speed(agent2) 3)" 1696 1735)
  ("(speed(agent2) 4)" 1735 1760)
  ("(speed(agent2) 5)" 1760 1783)
  ("(speed(agent2) 4)" 1783 1792)
  ("(speed(agent2) 3)" 1792 1843)
  ("(speed(agent2) 4)" 1843 1891)
  ("(speed(agent2) 3)" 1891 1907)
  ("(speed(agent2) 2)" 1907 1940)
  ("(speed(agent2) 3)" 1940 1952)
  ("(speed(agent2) 4)" 1952 1988)
  ("(speed(agent2) 3)" 1988 2002)
  ("(speed(agent2) 2)" 2002 2041)
  ("(speed(agent2) 3)" 2041 2057)
  ("(speed(agent2) 4)" 2057 2089)
  ("(speed(agent2) 3)" 2089 2097)
  ("(speed(agent2) 2)" 2097 2125)
  ("(speed(agent2) 1)" 2125 2137)
  ("(speed(agent2) 2)" 2137 2151)
  ("(speed(agent2) 3)" 2151 2167)
  ("(speed(agent2) 4)" 2167 2195)
  ("(speed(agent2) 3)" 2195 2201)
  ("(speed(agent2) 2)" 2201 2226)
  ("(speed(agent2) 1)" 2226 2246)
  ("(speed(agent2) 2)" 2246 2260)
  ("(speed(agent2) 3)" 2260 2275)
  ("(speed(agent2) 4)" 2275 2303)
  ("(speed(agent2) 3)" 2303 2309)
  ("(speed(agent2) 2)" 2309 2334)
  ("(speed(agent2) 1)" 2334 2349)
  ("(speed(agent2) 2)" 2349 2358)
  ("(speed(agent2) 3)" 2358 2371)
  ("(speed(agent2) 4)" 2371 2386)
  ("(speed(agent2) up)" 904 958)
  ("(speed(agent2) down)" 958 975)
  ("(speed(agent2) down)" 1033 1047)
  ("(speed(agent2) stable)" 1047 1048)
  ("(speed(agent2) up)" 1048 1100)
  ("(speed(agent2) stable)" 1100 1103)
  ("(speed(agent2) down)" 1103 1155)
  ("(speed(agent2) up)" 1155 1205)
  ("(speed(agent2) down)" 1205 1256)
  ("(speed(agent2) up)" 1256 1304)
  ("(speed(agent2) down)" 1304 1354)
  ("(speed(agent2) up)" 1354 1406)
  ("(speed(agent2) down)" 1406 1457)
  ("(speed(agent2) stable)" 1457 1458)
  ("(speed(agent2) up)" 1458 1513)
  ("(speed(agent2) down)" 1513 1565)
  ("(speed(agent2) stable)" 1565 1566)
  ("(speed(agent2) up)" 1566 1618)
  ("(speed(agent2) down)" 1618 1669)
  ("(speed(agent2) stable)" 1669 1670)
  ("(speed(agent2) up)" 1670 1723)
  ("(speed(agent2) down)" 1723 1774)
  ("(speed(agent2) stable)" 1774 1775)
  ("(speed(agent2) up)" 1775 1830)
  ("(speed(agent2) down)" 1830 1877)
  ("(speed(agent2) stable)" 1877 1880)
  ("(speed(agent2) up)" 1880 1928)
  ("(speed(agent2) stable)" 1928 1929)
  ("(speed(agent2) down)" 1929 1978)
  ("(speed(agent2) up)" 1978 2028)
  ("(speed(agent2) down)" 2028 2079)
  ("(speed(agent2) up)" 2079 2132)
  ("(speed(agent2) stable)" 2132 2133)
  ("(speed(agent2) down)" 2133 2184)
  ("(speed(agent2) stable)" 2184 2185)
  ("(speed(agent2) up)" 2185 2240)
  ("(speed(agent2) down)" 2240 2292)
  ("(speed(agent2) stable)" 2292 2293)
  ("(speed(agent2) up)" 2293 2344)
  ("(speed(agent2) down)" 2344 2386)
  ("(heading(agent2) 1)" 928 942)
  ("(heading(agent2) 5)" 942 950)
  ("(heading(agent2) 1)" 1057 1084)
  ("(heading(agent2) 2)" 1084 1094)
  ("(heading(agent2) 3)" 1094 1107)
  ("(heading(agent2) 4)" 1107 1144)
  ("(heading(agent2) 5)" 1144 1154)
  ("(heading(agent2) 4)" 1154 1187)
  ("(heading(agent2) 3)" 1187 1318)
  ("(heading(agent2) 4)" 1318 1355)
  ("(heading(agent2) 3)" 1355 2361)
  ("(heading(agent2) up)" 929 950)
  ("(heading(agent2) down)" 1058 1148)
  ("(heading(agent2) stable)" 1148 1151)
  ("(heading(agent2) up)" 1151 1248)
  ("(heading(agent2) stable)" 1248 1253)
  ("(heading(agent2) down)" 1253 1299)
  ("(heading(agent2) stable)" 1299 1312)
  ("(heading(agent2) down)" 1312 1324)
  ("(heading(agent2) stable)" 1324 1350)
  ("(heading(agent2) up)" 1350 1391)
  ("(heading(agent2) stable)" 1391 1415)
  ("(heading(agent2) up)" 1415 1428)
  ("(heading(agent2) stable)" 1428 1515)
  ("(heading(agent2) down)" 1515 1522)
  ("(heading(agent2) stable)" 1522 1568)
  ("(heading(agent2) down)" 1568 1604)
  ("(heading(agent2) stable)" 1604 1653)
  ("(heading(agent2) down)" 1653 1658)
  ("(heading(agent2) stable)" 1658 1667)
  ("(heading(agent2) up)" 1667 1706)
  ("(heading(agent2) stable)" 1706 1756)
  ("(heading(agent2) up)" 1756 1759)
  ("(heading(agent2) stable)" 1759 1775)
  ("(heading(agent2) down)" 1775 1808)
  ("(heading(agent2) stable)" 1808 1878)
  ("(heading(agent2) up)" 1878 1909)
  ("(heading(agent2) stable)" 1909 1973)
  ("(heading(agent2) down)" 1973 2006)
  ("(heading(agent2) stable)" 2006 2106)
  ("(heading(agent2) down)" 2106 2114)
  ("(heading(agent2) stable)" 2114 2361)
  ("heard(agent1 agent2)" 963 2411)
  ("novel(agent1 agent2)" 964 1044)
  ("novel(agent1 agent2)" 879 962)
  ("collision(agent1 agent2)" 2336 2337)
  ("collision(agent1 agent2)" 2228 2230)
  ("collision(agent1 agent2)" 2120 2122)
  ("collision(agent1 agent2)" 2017 2019)
  ("collision(agent1 agent2)" 1919 1921)
  ("collision(agent1 agent2)" 1818 1820)
  ("collision(agent1 agent2)" 1710 1712)
  ("collision(agent1 agent2)" 1609 1610)
  ("collision(agent1 agent2)" 1501 1503)
  ("collision(agent1 agent2)" 1393 1395)
  ("collision(agent1 agent2)" 1295 1297)
  ("collision(agent1 agent2)" 1197 1199)
  ("collision(agent1 agent2)" 1092 1094)
  ("collision(agent1 agent2)" 983 984)
  ("(distance(agent1 agent2) 1)" 903 961)
  ("(distance(agent1 agent2) 2)" 961 968)
  ("(distance(agent1 agent2) 3)" 968 977)
  ("(distance(agent1 agent2) 4)" 977 1008)
  ("(distance(agent1 agent2) 3)" 1008 1021)
  ("(distance(agent1 agent2) 2)" 1021 1059)
  ("(distance(agent1 agent2) 3)" 1059 1071)
  ("(distance(agent1 agent2) 4)" 1071 1093)
  ("(distance(agent1 agent2) 5)" 1093 1103)
  ("(distance(agent1 agent2) 4)" 1103 1124)
  ("(distance(agent1 agent2) 3)" 1124 1143)
  ("(distance(agent1 agent2) 2)" 1143 1157)
  ("(distance(agent1 agent2) 3)" 1157 1174)
  ("(distance(agent1 agent2) 4)" 1174 1196)
  ("(distance(agent1 agent2) 5)" 1196 1208)
  ("(distance(agent1 agent2) 4)" 1208 1229)
  ("(distance(agent1 agent2) 3)" 1229 1271)
  ("(distance(agent1 agent2) 4)" 1271 1293)
  ("(distance(agent1 agent2) 5)" 1293 1306)
  ("(distance(agent1 agent2) 4)" 1306 1328)
  ("(distance(agent1 agent2) 3)" 1328 1368)
  ("(distance(agent1 agent2) 4)" 1368 1391)
  ("(distance(agent1 agent2) 5)" 1391 1404)
  ("(distance(agent1 agent2) 4)" 1404 1423)
  ("(distance(agent1 agent2) 3)" 1423 1438)
  ("(distance(agent1 agent2) 2)" 1438 1466)
  ("(distance(agent1 agent2) 3)" 1466 1480)
  ("(distance(agent1 agent2) 4)" 1480 1501)
  ("(distance(agent1 agent2) 5)" 1501 1511)
  ("(distance(agent1 agent2) 4)" 1511 1531)
  ("(distance(agent1 agent2) 3)" 1531 1545)
  ("(distance(agent1 agent2) 2)" 1545 1575)
  ("(distance(agent1 agent2) 3)" 1575 1589)
  ("(distance(agent1 agent2) 4)" 1589 1613)
  ("(distance(agent1 agent2) 5)" 1613 1616)
  ("(distance(agent1 agent2) 4)" 1616 1640)
  ("(distance(agent1 agent2) 3)" 1640 1687)
  ("(distance(agent1 agent2) 4)" 1687 1710)
  ("(distance(agent1 agent2) 5)" 1710 1720)
  ("(distance(agent1 agent2) 4)" 1720 1740)
  ("(distance(agent1 agent2) 3)" 1740 1755)
  ("(distance(agent1 agent2) 2)" 1755 1783)
  ("(distance(agent1 agent2) 3)" 1783 1797)
  ("(distance(agent1 agent2) 4)" 1797 1819)
  ("(distance(agent1 agent2) 5)" 1819 1827)
  ("(distance(agent1 agent2) 4)" 1827 1848)
  ("(distance(agent1 agent2) 3)" 1848 1863)
  ("(distance(agent1 agent2) 2)" 1863 1887)
  ("(distance(agent1 agent2) 3)" 1887 1900)
  ("(distance(agent1 agent2) 4)" 1900 1945)
  ("(distance(agent1 agent2) 3)" 1945 1958)
  ("(distance(agent1 agent2) 2)" 1958 1987)
  ("(distance(agent1 agent2) 3)" 1987 1999)
  ("(distance(agent1 agent2) 4)" 1999 2042)
  ("(distance(agent1 agent2) 3)" 2042 2054)
  ("(distance(agent1 agent2) 2)" 2054 2092)
  ("(distance(agent1 agent2) 3)" 2092 2103)
  ("(distance(agent1 agent2) 4)" 2103 2144)
  ("(distance(agent1 agent2) 3)" 2144 2154)
  ("(distance(agent1 agent2) 2)" 2154 2171)
  ("(distance(agent1 agent2) 1)" 2171 2187)
  ("(distance(agent1 agent2) 2)" 2187 2203)
  ("(distance(agent1 agent2) 3)" 2203 2213)
  ("(distance(agent1 agent2) 4)" 2213 2252)
  ("(distance(agent1 agent2) 3)" 2252 2262)
  ("(distance(agent1 agent2) 2)" 2262 2278)
  ("(distance(agent1 agent2) 1)" 2278 2296)
  ("(distance(agent1 agent2) 2)" 2296 2311)
  ("(distance(agent1 agent2) 3)" 2311 2322)
  ("(distance(agent1 agent2) 4)" 2322 2361)
  ("(distance(agent1 agent2) 3)" 2361 2373)
  ("(distance(agent1 agent2) 2)" 2373 2386)
  ("(distance(agent1 agent2) down)" 904 992)
  ("(distance(agent1 agent2) stable)" 992 993)
  ("(distance(agent1 agent2) up)" 993 1041)
  ("(distance(agent1 agent2) stable)" 1041 1042)
  ("(distance(agent1 agent2) down)" 1042 1098)
  ("(distance(agent1 agent2) stable)" 1098 1099)
  ("(distance(agent1 agent2) up)" 1099 1150)
  ("(distance(agent1 agent2) stable)" 1150 1151)
  ("(distance(agent1 agent2) down)" 1151 1202)
  ("(distance(agent1 agent2) stable)" 1202 1203)
  ("(distance(agent1 agent2) up)" 1203 1251)
  ("(distance(agent1 agent2) stable)" 1251 1252)
  ("(distance(agent1 agent2) down)" 1252 1300)
  ("(distance(agent1 agent2) stable)" 1300 1301)
  ("(distance(agent1 agent2) up)" 1301 1349)
  ("(distance(agent1 agent2) stable)" 1349 1350)
  ("(distance(agent1 agent2) down)" 1350 1398)
  ("(distance(agent1 agent2) stable)" 1398 1399)
  ("(distance(agent1 agent2) up)" 1399 1452)
  ("(distance(agent1 agent2) stable)" 1452 1453)
  ("(distance(agent1 agent2) down)" 1453 1506)
  ("(distance(agent1 agent2) stable)" 1506 1507)
  ("(distance(agent1 agent2) up)" 1507 1560)
  ("(distance(agent1 agent2) stable)" 1560 1561)
  ("(distance(agent1 agent2) down)" 1561 1615)
  ("(distance(agent1 agent2) up)" 1615 1664)
  ("(distance(agent1 agent2) stable)" 1664 1665)
  ("(distance(agent1 agent2) down)" 1665 1715)
  ("(distance(agent1 agent2) stable)" 1715 1716)
  ("(distance(agent1 agent2) up)" 1716 1769)
  ("(distance(agent1 agent2) stable)" 1769 1770)
  ("(distance(agent1 agent2) down)" 1770 1823)
  ("(distance(agent1 agent2) stable)" 1823 1824)
  ("(distance(agent1 agent2) up)" 1824 1875)
  ("(distance(agent1 agent2) stable)" 1875 1876)
  ("(distance(agent1 agent2) down)" 1876 1923)
  ("(distance(agent1 agent2) stable)" 1923 1924)
  ("(distance(agent1 agent2) up)" 1924 1973)
  ("(distance(agent1 agent2) stable)" 1973 1974)
  ("(distance(agent1 agent2) down)" 1974 2022)
  ("(distance(agent1 agent2) stable)" 2022 2023)
  ("(distance(agent1 agent2) up)" 2023 2074)
  ("(distance(agent1 agent2) down)" 2074 2125)
  ("(distance(agent1 agent2) stable)" 2125 2126)
  ("(distance(agent1 agent2) up)" 2126 2179)
  ("(distance(agent1 agent2) stable)" 2179 2180)
  ("(distance(agent1 agent2) down)" 2180 2234)
  ("(distance(agent1 agent2) up)" 2234 2287)
  ("(distance(agent1 agent2) stable)" 2287 2288)
  ("(distance(agent1 agent2) down)" 2288 2342)
  ("(distance(agent1 agent2) up)" 2342 2386)
  ("(relativeX(agent1 agent2) 1)" 903 967)
  ("(relativeX(agent1 agent2) 2)" 967 974)
  ("(relativeX(agent1 agent2) 3)" 974 975)
  ("(relativeX(agent1 agent2) 3)" 1032 1067)
  ("(relativeX(agent1 agent2) 4)" 1067 1111)
  ("(relativeX(agent1 agent2) 3)" 1111 1129)
  ("(relativeX(agent1 agent2) 2)" 1129 1165)
  ("(relativeX(agent1 agent2) 3)" 1165 1181)
  ("(relativeX(agent1 agent2) 4)" 1181 1238)
  ("(relativeX(agent1 agent2) 3)" 1238 1266)
  ("(relativeX(agent1 agent2) 4)" 1266 1325)
  ("(relativeX(agent1 agent2) 3)" 1325 1370)
  ("(relativeX(agent1 agent2) 4)" 1370 1425)
  ("(relativeX(agent1 agent2) 3)" 1425 1478)
  ("(relativeX(agent1 agent2) 4)" 1478 1531)
  ("(relativeX(agent1 agent2) 3)" 1531 1588)
  ("(relativeX(agent1 agent2) 4)" 1588 1639)
  ("(relativeX(agent1 agent2) 3)" 1639 1688)
  ("(relativeX(agent1 agent2) 4)" 1688 1740)
  ("(relativeX(agent1 agent2) 3)" 1740 1797)
  ("(relativeX(agent1 agent2) 4)" 1797 1847)
  ("(relativeX(agent1 agent2) 3)" 1847 1900)
  ("(relativeX(agent1 agent2) 4)" 1900 1947)
  ("(relativeX(agent1 agent2) 3)" 1947 1997)
  ("(relativeX(agent1 agent2) 4)" 1997 2043)
  ("(relativeX(agent1 agent2) 3)" 2043 2065)
  ("(relativeX(agent1 agent2) 2)" 2065 2082)
  ("(relativeX(agent1 agent2) 3)" 2082 2103)
  ("(relativeX(agent1 agent2) 4)" 2103 2143)
  ("(relativeX(agent1 agent2) 3)" 2143 2160)
  ("(relativeX(agent1 agent2) 2)" 2160 2198)
  ("(relativeX(agent1 agent2) 3)" 2198 2214)
  ("(relativeX(agent1 agent2) 4)" 2214 2252)
  ("(relativeX(agent1 agent2) 3)" 2252 2269)
  ("(relativeX(agent1 agent2) 2)" 2269 2305)
  ("(relativeX(agent1 agent2) 3)" 2305 2322)
  ("(relativeX(agent1 agent2) 4)" 2322 2362)
  ("(relativeX(agent1 agent2) 3)" 2362 2386)
  ("(relativeX(agent1 agent2) down)" 904 975)
  ("(relativeX(agent1 agent2) up)" 1033 1048)
  ("(relativeX(agent1 agent2) stable)" 1048 1050)
  ("(relativeX(agent1 agent2) down)" 1050 1091)
  ("(relativeX(agent1 agent2) stable)" 1091 1092)
  ("(relativeX(agent1 agent2) up)" 1092 1148)
  ("(relativeX(agent1 agent2) stable)" 1148 1149)
  ("(relativeX(agent1 agent2) down)" 1149 1207)
  ("(relativeX(agent1 agent2) stable)" 1207 1208)
  ("(relativeX(agent1 agent2) up)" 1208 1252)
  ("(relativeX(agent1 agent2) stable)" 1252 1254)
  ("(relativeX(agent1 agent2) down)" 1254 1297)
  ("(relativeX(agent1 agent2) stable)" 1297 1299)
  ("(relativeX(agent1 agent2) up)" 1299 1348)
  ("(relativeX(agent1 agent2) stable)" 1348 1350)
  ("(relativeX(agent1 agent2) down)" 1350 1399)
  ("(relativeX(agent1 agent2) stable)" 1399 1400)
  ("(relativeX(agent1 agent2) up)" 1400 1452)
  ("(relativeX(agent1 agent2) stable)" 1452 1454)
  ("(relativeX(agent1 agent2) down)" 1454 1506)
  ("(relativeX(agent1 agent2) stable)" 1506 1507)
  ("(relativeX(agent1 agent2) up)" 1507 1560)
  ("(relativeX(agent1 agent2) stable)" 1560 1562)
  ("(relativeX(agent1 agent2) down)" 1562 1614)
  ("(relativeX(agent1 agent2) stable)" 1614 1615)
  ("(relativeX(agent1 agent2) up)" 1615 1664)
  ("(relativeX(agent1 agent2) stable)" 1664 1666)
  ("(relativeX(agent1 agent2) down)" 1666 1715)
  ("(relativeX(agent1 agent2) stable)" 1715 1717)
  ("(relativeX(agent1 agent2) up)" 1717 1769)
  ("(relativeX(agent1 agent2) stable)" 1769 1771)
  ("(relativeX(agent1 agent2) down)" 1771 1823)
  ("(relativeX(agent1 agent2) stable)" 1823 1824)
  ("(relativeX(agent1 agent2) up)" 1824 1875)
  ("(relativeX(agent1 agent2) stable)" 1875 1876)
  ("(relativeX(agent1 agent2) down)" 1876 1924)
  ("(relativeX(agent1 agent2) stable)" 1924 1925)
  ("(relativeX(agent1 agent2) up)" 1925 1973)
  ("(relativeX(agent1 agent2) stable)" 1973 1974)
  ("(relativeX(agent1 agent2) down)" 1974 2021)
  ("(relativeX(agent1 agent2) stable)" 2021 2022)
  ("(relativeX(agent1 agent2) up)" 2022 2074)
  ("(relativeX(agent1 agent2) stable)" 2074 2075)
  ("(relativeX(agent1 agent2) down)" 2075 2124)
  ("(relativeX(agent1 agent2) stable)" 2124 2126)
  ("(relativeX(agent1 agent2) up)" 2126 2179)
  ("(relativeX(agent1 agent2) stable)" 2179 2180)
  ("(relativeX(agent1 agent2) down)" 2180 2234)
  ("(relativeX(agent1 agent2) stable)" 2234 2235)
  ("(relativeX(agent1 agent2) up)" 2235 2287)
  ("(relativeX(agent1 agent2) stable)" 2287 2288)
  ("(relativeX(agent1 agent2) down)" 2288 2342)
  ("(relativeX(agent1 agent2) stable)" 2342 2343)
  ("(relativeX(agent1 agent2) up)" 2343 2386)
  ("(relativeY(agent1 agent2) 5)" 903 975)
  ("(relativeY(agent1 agent2) 1)" 1032 1061)
  ("(relativeY(agent1 agent2) 2)" 1061 1070)
  ("(relativeY(agent1 agent2) 3)" 1070 1077)
  ("(relativeY(agent1 agent2) 4)" 1077 1088)
  ("(relativeY(agent1 agent2) 5)" 1088 1121)
  ("(relativeY(agent1 agent2) 4)" 1121 1137)
  ("(relativeY(agent1 agent2) 3)" 1137 1171)
  ("(relativeY(agent1 agent2) 4)" 1171 1219)
  ("(relativeY(agent1 agent2) 3)" 1219 1229)
  ("(relativeY(agent1 agent2) 2)" 1229 1269)
  ("(relativeY(agent1 agent2) 3)" 1269 1279)
  ("(relativeY(agent1 agent2) 4)" 1279 1322)
  ("(relativeY(agent1 agent2) 3)" 1322 1335)
  ("(relativeY(agent1 agent2) 2)" 1335 1363)
  ("(relativeY(agent1 agent2) 3)" 1363 1375)
  ("(relativeY(agent1 agent2) 4)" 1375 1416)
  ("(relativeY(agent1 agent2) 3)" 1416 1425)
  ("(relativeY(agent1 agent2) 2)" 1425 1438)
  ("(relativeY(agent1 agent2) 1)" 1438 1466)
  ("(relativeY(agent1 agent2) 2)" 1466 1478)
  ("(relativeY(agent1 agent2) 3)" 1478 1487)
  ("(relativeY(agent1 agent2) 4)" 1487 1524)
  ("(relativeY(agent1 agent2) 3)" 1524 1534)
  ("(relativeY(agent1 agent2) 2)" 1534 1547)
  ("(relativeY(agent1 agent2) 1)" 1547 1573)
  ("(relativeY(agent1 agent2) 2)" 1573 1585)
  ("(relativeY(agent1 agent2) 3)" 1585 1595)
  ("(relativeY(agent1 agent2) 4)" 1595 1634)
  ("(relativeY(agent1 agent2) 3)" 1634 1645)
  ("(relativeY(agent1 agent2) 2)" 1645 1683)
  ("(relativeY(agent1 agent2) 3)" 1683 1694)
  ("(relativeY(agent1 agent2) 4)" 1694 1734)
  ("(relativeY(agent1 agent2) 3)" 1734 1743)
  ("(relativeY(agent1 agent2) 2)" 1743 1757)
  ("(relativeY(agent1 agent2) 1)" 1757 1781)
  ("(relativeY(agent1 agent2) 2)" 1781 1794)
  ("(relativeY(agent1 agent2) 3)" 1794 1804)
  ("(relativeY(agent1 agent2) 4)" 1804 1842)
  ("(relativeY(agent1 agent2) 3)" 1842 1851)
  ("(relativeY(agent1 agent2) 2)" 1851 1866)
  ("(relativeY(agent1 agent2) 1)" 1866 1883)
  ("(relativeY(agent1 agent2) 2)" 1883 1897)
  ("(relativeY(agent1 agent2) 3)" 1897 1907)
  ("(relativeY(agent1 agent2) 4)" 1907 1938)
  ("(relativeY(agent1 agent2) 3)" 1938 1947)
  ("(relativeY(agent1 agent2) 2)" 1947 1959)
  ("(relativeY(agent1 agent2) 1)" 1959 1986)
  ("(relativeY(agent1 agent2) 2)" 1986 1997)
  ("(relativeY(agent1 agent2) 3)" 1997 2007)
  ("(relativeY(agent1 agent2) 4)" 2007 2036)
  ("(relativeY(agent1 agent2) 3)" 2036 2045)
  ("(relativeY(agent1 agent2) 2)" 2045 2055)
  ("(relativeY(agent1 agent2) 1)" 2055 2091)
  ("(relativeY(agent1 agent2) 2)" 2091 2100)
  ("(relativeY(agent1 agent2) 3)" 2100 2110)
  ("(relativeY(agent1 agent2) 4)" 2110 2139)
  ("(relativeY(agent1 agent2) 3)" 2139 2148)
  ("(relativeY(agent1 agent2) 2)" 2148 2157)
  ("(relativeY(agent1 agent2) 1)" 2157 2200)
  ("(relativeY(agent1 agent2) 2)" 2200 2209)
  ("(relativeY(agent1 agent2) 3)" 2209 2219)
  ("(relativeY(agent1 agent2) 4)" 2219 2247)
  ("(relativeY(agent1 agent2) 3)" 2247 2255)
  ("(relativeY(agent1 agent2) 2)" 2255 2264)
  ("(relativeY(agent1 agent2) 1)" 2264 2310)
  ("(relativeY(agent1 agent2) 2)" 2310 2319)
  ("(relativeY(agent1 agent2) 3)" 2319 2329)
  ("(relativeY(agent1 agent2) 4)" 2329 2354)
  ("(relativeY(agent1 agent2) 3)" 2354 2363)
  ("(relativeY(agent1 agent2) 2)" 2363 2374)
  ("(relativeY(agent1 agent2) 1)" 2374 2386)
  ("(relativeY(agent1 agent2) up)" 904 975)
  ("(relativeY(agent1 agent2) up)" 1033 1038)
  ("(relativeY(agent1 agent2) stable)" 1038 1039)
  ("(relativeY(agent1 agent2) down)" 1039 1104)
  ("(relativeY(agent1 agent2) stable)" 1104 1105)
  ("(relativeY(agent1 agent2) up)" 1105 1154)
  ("(relativeY(agent1 agent2) stable)" 1154 1155)
  ("(relativeY(agent1 agent2) down)" 1155 1197)
  ("(relativeY(agent1 agent2) stable)" 1197 1198)
  ("(relativeY(agent1 agent2) up)" 1198 1250)
  ("(relativeY(agent1 agent2) stable)" 1250 1251)
  ("(relativeY(agent1 agent2) down)" 1251 1301)
  ("(relativeY(agent1 agent2) stable)" 1301 1302)
  ("(relativeY(agent1 agent2) up)" 1302 1349)
  ("(relativeY(agent1 agent2) stable)" 1349 1350)
  ("(relativeY(agent1 agent2) down)" 1350 1397)
  ("(relativeY(agent1 agent2) stable)" 1397 1398)
  ("(relativeY(agent1 agent2) up)" 1398 1452)
  ("(relativeY(agent1 agent2) stable)" 1452 1453)
  ("(relativeY(agent1 agent2) down)" 1453 1507)
  ("(relativeY(agent1 agent2) up)" 1507 1560)
  ("(relativeY(agent1 agent2) stable)" 1560 1561)
  ("(relativeY(agent1 agent2) down)" 1561 1615)
  ("(relativeY(agent1 agent2) stable)" 1615 1616)
  ("(relativeY(agent1 agent2) up)" 1616 1665)
  ("(relativeY(agent1 agent2) down)" 1665 1715)
  ("(relativeY(agent1 agent2) stable)" 1715 1716)
  ("(relativeY(agent1 agent2) up)" 1716 1769)
  ("(relativeY(agent1 agent2) stable)" 1769 1770)
  ("(relativeY(agent1 agent2) down)" 1770 1824)
  ("(relativeY(agent1 agent2) up)" 1824 1875)
  ("(relativeY(agent1 agent2) stable)" 1875 1876)
  ("(relativeY(agent1 agent2) down)" 1876 1923)
  ("(relativeY(agent1 agent2) stable)" 1923 1924)
  ("(relativeY(agent1 agent2) up)" 1924 1973)
  ("(relativeY(agent1 agent2) stable)" 1973 1974)
  ("(relativeY(agent1 agent2) down)" 1974 2022)
  ("(relativeY(agent1 agent2) stable)" 2022 2023)
  ("(relativeY(agent1 agent2) up)" 2023 2074)
  ("(relativeY(agent1 agent2) down)" 2074 2126)
  ("(relativeY(agent1 agent2) up)" 2126 2179)
  ("(relativeY(agent1 agent2) stable)" 2179 2180)
  ("(relativeY(agent1 agent2) down)" 2180 2233)
  ("(relativeY(agent1 agent2) stable)" 2233 2234)
  ("(relativeY(agent1 agent2) up)" 2234 2288)
  ("(relativeY(agent1 agent2) down)" 2288 2341)
  ("(relativeY(agent1 agent2) stable)" 2341 2342)
  ("(relativeY(agent1 agent2) up)" 2342 2386)
  ("(x(wall1) 3)" 962 1066)
  ("(x(wall1) 3)" 1117 2386)
  ("(x(wall1) stable)" 963 1066)
  ("(x(wall1) stable)" 1118 2386)
  ("(y(wall1) 3)" 962 1066)
  ("(y(wall1) 3)" 1117 2386)
  ("(y(wall1) stable)" 963 1066)
  ("(y(wall1) stable)" 1118 2386)
  ("(speed(wall1) 3)" 962 1066)
  ("(speed(wall1) 3)" 1117 2386)
  ("(speed(wall1) stable)" 963 1066)
  ("(speed(wall1) stable)" 1118 2386)
  ("(heading(wall1) 3)" 987 1041)
  ("(heading(wall1) 3)" 1142 2361)
  ("(heading(wall1) stable)" 988 1041)
  ("(heading(wall1) stable)" 1143 2361)
  ("novel(agent1 wall1)" 1093 1174)
  ("novel(agent1 wall1)" 938 1018)
  ("(distance(agent1 wall1) 1)" 962 969)
  ("(distance(agent1 wall1) 2)" 969 972)
  ("(distance(agent1 wall1) 3)" 972 974)
  ("(distance(agent1 wall1) 4)" 974 977)
  ("(distance(agent1 wall1) 5)" 977 1066)
  ("(distance(agent1 wall1) 5)" 1117 1118)
  ("(distance(agent1 wall1) 4)" 1118 1124)
  ("(distance(agent1 wall1) 3)" 1124 1130)
  ("(distance(agent1 wall1) 2)" 1130 1140)
  ("(distance(agent1 wall1) 1)" 1140 1161)
  ("(distance(agent1 wall1) 2)" 1161 1171)
  ("(distance(agent1 wall1) 3)" 1171 1177)
  ("(distance(agent1 wall1) 4)" 1177 1186)
  ("(distance(agent1 wall1) 5)" 1186 1226)
  ("(distance(agent1 wall1) 4)" 1226 1239)
  ("(distance(agent1 wall1) 3)" 1239 1267)
  ("(distance(agent1 wall1) 4)" 1267 1281)
  ("(distance(agent1 wall1) 5)" 1281 1312)
  ("(distance(agent1 wall1) 4)" 1312 1323)
  ("(distance(agent1 wall1) 3)" 1323 1333)
  ("(distance(agent1 wall1) 2)" 1333 1363)
  ("(distance(agent1 wall1) 3)" 1363 1372)
  ("(distance(agent1 wall1) 4)" 1372 1383)
  ("(distance(agent1 wall1) 5)" 1383 1413)
  ("(distance(agent1 wall1) 4)" 1413 1422)
  ("(distance(agent1 wall1) 3)" 1422 1431)
  ("(distance(agent1 wall1) 2)" 1431 1444)
  ("(distance(agent1 wall1) 1)" 1444 1461)
  ("(distance(agent1 wall1) 2)" 1461 1474)
  ("(distance(agent1 wall1) 3)" 1474 1482)
  ("(distance(agent1 wall1) 4)" 1482 1495)
  ("(distance(agent1 wall1) 5)" 1495 1516)
  ("(distance(agent1 wall1) 4)" 1516 1527)
  ("(distance(agent1 wall1) 3)" 1527 1534)
  ("(distance(agent1 wall1) 2)" 1534 1545)
  ("(distance(agent1 wall1) 1)" 1545 1575)
  ("(distance(agent1 wall1) 2)" 1575 1585)
  ("(distance(agent1 wall1) 3)" 1585 1593)
  ("(distance(agent1 wall1) 4)" 1593 1608)
  ("(distance(agent1 wall1) 5)" 1608 1620)
  ("(distance(agent1 wall1) 4)" 1620 1634)
  ("(distance(agent1 wall1) 3)" 1634 1642)
  ("(distance(agent1 wall1) 2)" 1642 1657)
  ("(distance(agent1 wall1) 1)" 1657 1671)
  ("(distance(agent1 wall1) 2)" 1671 1684)
  ("(distance(agent1 wall1) 3)" 1684 1693)
  ("(distance(agent1 wall1) 4)" 1693 1705)
  ("(distance(agent1 wall1) 5)" 1705 1725)
  ("(distance(agent1 wall1) 4)" 1725 1737)
  ("(distance(agent1 wall1) 3)" 1737 1745)
  ("(distance(agent1 wall1) 2)" 1745 1756)
  ("(distance(agent1 wall1) 1)" 1756 1781)
  ("(distance(agent1 wall1) 2)" 1781 1792)
  ("(distance(agent1 wall1) 3)" 1792 1800)
  ("(distance(agent1 wall1) 4)" 1800 1811)
  ("(distance(agent1 wall1) 5)" 1811 1834)
  ("(distance(agent1 wall1) 4)" 1834 1845)
  ("(distance(agent1 wall1) 3)" 1845 1852)
  ("(distance(agent1 wall1) 2)" 1852 1864)
  ("(distance(agent1 wall1) 1)" 1864 1886)
  ("(distance(agent1 wall1) 2)" 1886 1896)
  ("(distance(agent1 wall1) 3)" 1896 1904)
  ("(distance(agent1 wall1) 4)" 1904 1917)
  ("(distance(agent1 wall1) 5)" 1917 1930)
  ("(distance(agent1 wall1) 4)" 1930 1942)
  ("(distance(agent1 wall1) 3)" 1942 1949)
  ("(distance(agent1 wall1) 2)" 1949 1959)
  ("(distance(agent1 wall1) 1)" 1959 1987)
  ("(distance(agent1 wall1) 2)" 1987 1996)
  ("(distance(agent1 wall1) 3)" 1996 2005)
  ("(distance(agent1 wall1) 4)" 2005 2036)
  ("(distance(agent1 wall1) 3)" 2036 2043)
  ("(distance(agent1 wall1) 2)" 2043 2051)
  ("(distance(agent1 wall1) 1)" 2051 2095)
  ("(distance(agent1 wall1) 2)" 2095 2103)
  ("(distance(agent1 wall1) 3)" 2103 2112)
  ("(distance(agent1 wall1) 4)" 2112 2137)
  ("(distance(agent1 wall1) 3)" 2137 2144)
  ("(distance(agent1 wall1) 2)" 2144 2151)
  ("(distance(agent1 wall1) 1)" 2151 2204)
  ("(distance(agent1 wall1) 2)" 2204 2211)
  ("(distance(agent1 wall1) 3)" 2211 2219)
  ("(distance(agent1 wall1) 4)" 2219 2248)
  ("(distance(agent1 wall1) 3)" 2248 2254)
  ("(distance(agent1 wall1) 2)" 2254 2262)
  ("(distance(agent1 wall1) 1)" 2262 2311)
  ("(distance(agent1 wall1) 2)" 2311 2318)
  ("(distance(agent1 wall1) 3)" 2318 2326)
  ("(distance(agent1 wall1) 4)" 2326 2358)
  ("(distance(agent1 wall1) 3)" 2358 2365)
  ("(distance(agent1 wall1) 2)" 2365 2375)
  ("(distance(agent1 wall1) 1)" 2375 2386)
  ("(distance(agent1 wall1) down)" 963 1002)
  ("(distance(agent1 wall1) up)" 1002 1049)
  ("(distance(agent1 wall1) stable)" 1049 1050)
  ("(distance(agent1 wall1) down)" 1050 1066)
  ("(distance(agent1 wall1) up)" 1118 1151)
  ("(distance(agent1 wall1) stable)" 1151 1152)
  ("(distance(agent1 wall1) down)" 1152 1206)
  ("(distance(agent1 wall1) stable)" 1206 1207)
  ("(distance(agent1 wall1) up)" 1207 1253)
  ("(distance(agent1 wall1) stable)" 1253 1254)
  ("(distance(agent1 wall1) down)" 1254 1297)
  ("(distance(agent1 wall1) stable)" 1297 1298)
  ("(distance(agent1 wall1) up)" 1298 1349)
  ("(distance(agent1 wall1) down)" 1349 1399)
  ("(distance(agent1 wall1) up)" 1399 1453)
  ("(distance(agent1 wall1) stable)" 1453 1454)
  ("(distance(agent1 wall1) down)" 1454 1506)
  ("(distance(agent1 wall1) stable)" 1506 1507)
  ("(distance(agent1 wall1) up)" 1507 1561)
  ("(distance(agent1 wall1) down)" 1561 1614)
  ("(distance(agent1 wall1) stable)" 1614 1615)
  ("(distance(agent1 wall1) up)" 1615 1664)
  ("(distance(agent1 wall1) stable)" 1664 1665)
  ("(distance(agent1 wall1) down)" 1665 1716)
  ("(distance(agent1 wall1) stable)" 1716 1717)
  ("(distance(agent1 wall1) up)" 1717 1769)
  ("(distance(agent1 wall1) stable)" 1769 1770)
  ("(distance(agent1 wall1) down)" 1770 1823)
  ("(distance(agent1 wall1) stable)" 1823 1824)
  ("(distance(agent1 wall1) up)" 1824 1875)
  ("(distance(agent1 wall1) stable)" 1875 1876)
  ("(distance(agent1 wall1) down)" 1876 1924)
  ("(distance(agent1 wall1) up)" 1924 1974)
  ("(distance(agent1 wall1) down)" 1974 2021)
  ("(distance(agent1 wall1) stable)" 2021 2022)
  ("(distance(agent1 wall1) up)" 2022 2074)
  ("(distance(agent1 wall1) down)" 2074 2125)
  ("(distance(agent1 wall1) up)" 2125 2179)
  ("(distance(agent1 wall1) down)" 2179 2234)
  ("(distance(agent1 wall1) stable)" 2234 2235)
  ("(distance(agent1 wall1) up)" 2235 2287)
  ("(distance(agent1 wall1) stable)" 2287 2288)
  ("(distance(agent1 wall1) down)" 2288 2342)
  ("(distance(agent1 wall1) stable)" 2342 2343)
  ("(distance(agent1 wall1) up)" 2343 2386)
  ("(relativeX(agent1 wall1) 1)" 962 969)
  ("(relativeX(agent1 wall1) 2)" 969 972)
  ("(relativeX(agent1 wall1) 3)" 972 974)
  ("(relativeX(agent1 wall1) 4)" 974 977)
  ("(relativeX(agent1 wall1) 5)" 977 1066)
  ("(relativeX(agent1 wall1) 5)" 1117 1118)
  ("(relativeX(agent1 wall1) 4)" 1118 1124)
  ("(relativeX(agent1 wall1) 3)" 1124 1130)
  ("(relativeX(agent1 wall1) 2)" 1130 1140)
  ("(relativeX(agent1 wall1) 1)" 1140 1161)
  ("(relativeX(agent1 wall1) 2)" 1161 1171)
  ("(relativeX(agent1 wall1) 3)" 1171 1177)
  ("(relativeX(agent1 wall1) 4)" 1177 1186)
  ("(relativeX(agent1 wall1) 5)" 1186 1226)
  ("(relativeX(agent1 wall1) 4)" 1226 1239)
  ("(relativeX(agent1 wall1) 3)" 1239 1267)
  ("(relativeX(agent1 wall1) 4)" 1267 1281)
  ("(relativeX(agent1 wall1) 5)" 1281 1312)
  ("(relativeX(agent1 wall1) 4)" 1312 1323)
  ("(relativeX(agent1 wall1) 3)" 1323 1333)
  ("(relativeX(agent1 wall1) 2)" 1333 1363)
  ("(relativeX(agent1 wall1) 3)" 1363 1372)
  ("(relativeX(agent1 wall1) 4)" 1372 1383)
  ("(relativeX(agent1 wall1) 5)" 1383 1413)
  ("(relativeX(agent1 wall1) 4)" 1413 1422)
  ("(relativeX(agent1 wall1) 3)" 1422 1431)
  ("(relativeX(agent1 wall1) 2)" 1431 1444)
  ("(relativeX(agent1 wall1) 1)" 1444 1461)
  ("(relativeX(agent1 wall1) 2)" 1461 1474)
  ("(relativeX(agent1 wall1) 3)" 1474 1482)
  ("(relativeX(agent1 wall1) 4)" 1482 1495)
  ("(relativeX(agent1 wall1) 5)" 1495 1516)
  ("(relativeX(agent1 wall1) 4)" 1516 1527)
  ("(relativeX(agent1 wall1) 3)" 1527 1534)
  ("(relativeX(agent1 wall1) 2)" 1534 1545)
  ("(relativeX(agent1 wall1) 1)" 1545 1575)
  ("(relativeX(agent1 wall1) 2)" 1575 1585)
  ("(relativeX(agent1 wall1) 3)" 1585 1593)
  ("(relativeX(agent1 wall1) 4)" 1593 1608)
  ("(relativeX(agent1 wall1) 5)" 1608 1620)
  ("(relativeX(agent1 wall1) 4)" 1620 1634)
  ("(relativeX(agent1 wall1) 3)" 1634 1642)
  ("(relativeX(agent1 wall1) 2)" 1642 1657)
  ("(relativeX(agent1 wall1) 1)" 1657 1671)
  ("(relativeX(agent1 wall1) 2)" 1671 1684)
  ("(relativeX(agent1 wall1) 3)" 1684 1693)
  ("(relativeX(agent1 wall1) 4)" 1693 1705)
  ("(relativeX(agent1 wall1) 5)" 1705 1725)
  ("(relativeX(agent1 wall1) 4)" 1725 1737)
  ("(relativeX(agent1 wall1) 3)" 1737 1745)
  ("(relativeX(agent1 wall1) 2)" 1745 1756)
  ("(relativeX(agent1 wall1) 1)" 1756 1781)
  ("(relativeX(agent1 wall1) 2)" 1781 1792)
  ("(relativeX(agent1 wall1) 3)" 1792 1800)
  ("(relativeX(agent1 wall1) 4)" 1800 1811)
  ("(relativeX(agent1 wall1) 5)" 1811 1834)
  ("(relativeX(agent1 wall1) 4)" 1834 1845)
  ("(relativeX(agent1 wall1) 3)" 1845 1852)
  ("(relativeX(agent1 wall1) 2)" 1852 1864)
  ("(relativeX(agent1 wall1) 1)" 1864 1886)
  ("(relativeX(agent1 wall1) 2)" 1886 1896)
  ("(relativeX(agent1 wall1) 3)" 1896 1904)
  ("(relativeX(agent1 wall1) 4)" 1904 1917)
  ("(relativeX(agent1 wall1) 5)" 1917 1930)
  ("(relativeX(agent1 wall1) 4)" 1930 1942)
  ("(relativeX(agent1 wall1) 3)" 1942 1949)
  ("(relativeX(agent1 wall1) 2)" 1949 1959)
  ("(relativeX(agent1 wall1) 1)" 1959 1987)
  ("(relativeX(agent1 wall1) 2)" 1987 1996)
  ("(relativeX(agent1 wall1) 3)" 1996 2005)
  ("(relativeX(agent1 wall1) 4)" 2005 2036)
  ("(relativeX(agent1 wall1) 3)" 2036 2043)
  ("(relativeX(agent1 wall1) 2)" 2043 2051)
  ("(relativeX(agent1 wall1) 1)" 2051 2095)
  ("(relativeX(agent1 wall1) 2)" 2095 2103)
  ("(relativeX(agent1 wall1) 3)" 2103 2112)
  ("(relativeX(agent1 wall1) 4)" 2112 2137)
  ("(relativeX(agent1 wall1) 3)" 2137 2144)
  ("(relativeX(agent1 wall1) 2)" 2144 2151)
  ("(relativeX(agent1 wall1) 1)" 2151 2204)
  ("(relativeX(agent1 wall1) 2)" 2204 2211)
  ("(relativeX(agent1 wall1) 3)" 2211 2219)
  ("(relativeX(agent1 wall1) 4)" 2219 2248)
  ("(relativeX(agent1 wall1) 3)" 2248 2254)
  ("(relativeX(agent1 wall1) 2)" 2254 2262)
  ("(relativeX(agent1 wall1) 1)" 2262 2311)
  ("(relativeX(agent1 wall1) 2)" 2311 2318)
  ("(relativeX(agent1 wall1) 3)" 2318 2326)
  ("(relativeX(agent1 wall1) 4)" 2326 2358)
  ("(relativeX(agent1 wall1) 3)" 2358 2365)
  ("(relativeX(agent1 wall1) 2)" 2365 2375)
  ("(relativeX(agent1 wall1) 1)" 2375 2386)
  ("(relativeX(agent1 wall1) down)" 963 1002)
  ("(relativeX(agent1 wall1) up)" 1002 1049)
  ("(relativeX(agent1 wall1) stable)" 1049 1050)
  ("(relativeX(agent1 wall1) down)" 1050 1066)
  ("(relativeX(agent1 wall1) up)" 1118 1151)
  ("(relativeX(agent1 wall1) stable)" 1151 1152)
  ("(relativeX(agent1 wall1) down)" 1152 1206)
  ("(relativeX(agent1 wall1) stable)" 1206 1207)
  ("(relativeX(agent1 wall1) up)" 1207 1253)
  ("(relativeX(agent1 wall1) stable)" 1253 1254)
  ("(relativeX(agent1 wall1) down)" 1254 1297)
  ("(relativeX(agent1 wall1) stable)" 1297 1298)
  ("(relativeX(agent1 wall1) up)" 1298 1349)
  ("(relativeX(agent1 wall1) down)" 1349 1399)
  ("(relativeX(agent1 wall1) up)" 1399 1453)
  ("(relativeX(agent1 wall1) stable)" 1453 1454)
  ("(relativeX(agent1 wall1) down)" 1454 1506)
  ("(relativeX(agent1 wall1) stable)" 1506 1507)
  ("(relativeX(agent1 wall1) up)" 1507 1561)
  ("(relativeX(agent1 wall1) down)" 1561 1614)
  ("(relativeX(agent1 wall1) stable)" 1614 1615)
  ("(relativeX(agent1 wall1) up)" 1615 1664)
  ("(relativeX(agent1 wall1) stable)" 1664 1665)
  ("(relativeX(agent1 wall1) down)" 1665 1716)
  ("(relativeX(agent1 wall1) stable)" 1716 1717)
  ("(relativeX(agent1 wall1) up)" 1717 1769)
  ("(relativeX(agent1 wall1) stable)" 1769 1770)
  ("(relativeX(agent1 wall1) down)" 1770 1823)
  ("(relativeX(agent1 wall1) stable)" 1823 1824)
  ("(relativeX(agent1 wall1) up)" 1824 1875)
  ("(relativeX(agent1 wall1) stable)" 1875 1876)
  ("(relativeX(agent1 wall1) down)" 1876 1924)
  ("(relativeX(agent1 wall1) up)" 1924 1974)
  ("(relativeX(agent1 wall1) down)" 1974 2021)
  ("(relativeX(agent1 wall1) stable)" 2021 2022)
  ("(relativeX(agent1 wall1) up)" 2022 2074)
  ("(relativeX(agent1 wall1) down)" 2074 2125)
  ("(relativeX(agent1 wall1) up)" 2125 2179)
  ("(relativeX(agent1 wall1) down)" 2179 2234)
  ("(relativeX(agent1 wall1) stable)" 2234 2235)
  ("(relativeX(agent1 wall1) up)" 2235 2287)
  ("(relativeX(agent1 wall1) stable)" 2287 2288)
  ("(relativeX(agent1 wall1) down)" 2288 2342)
  ("(relativeX(agent1 wall1) stable)" 2342 2343)
  ("(relativeX(agent1 wall1) up)" 2343 2386)
  ("(relativeY(agent1 wall1) 5)" 962 969)
  ("(relativeY(agent1 wall1) 4)" 969 980)
  ("(relativeY(agent1 wall1) 3)" 980 988)
  ("(relativeY(agent1 wall1) 2)" 988 996)
  ("(relativeY(agent1 wall1) 1)" 996 1066)
  ("(relativeY(agent1 wall1) 4)" 1117 1129)
  ("(relativeY(agent1 wall1) 3)" 1129 1149)
  ("(relativeY(agent1 wall1) 2)" 1149 1153)
  ("(relativeY(agent1 wall1) 3)" 1153 1171)
  ("(relativeY(agent1 wall1) 4)" 1171 1184)
  ("(relativeY(agent1 wall1) 5)" 1184 1211)
  ("(relativeY(agent1 wall1) 4)" 1211 1222)
  ("(relativeY(agent1 wall1) 3)" 1222 1231)
  ("(relativeY(agent1 wall1) 2)" 1231 1267)
  ("(relativeY(agent1 wall1) 3)" 1267 1274)
  ("(relativeY(agent1 wall1) 4)" 1274 1284)
  ("(relativeY(agent1 wall1) 5)" 1284 1318)
  ("(relativeY(agent1 wall1) 4)" 1318 1329)
  ("(relativeY(agent1 wall1) 3)" 1329 1341)
  ("(relativeY(agent1 wall1) 2)" 1341 1357)
  ("(relativeY(agent1 wall1) 3)" 1357 1368)
  ("(relativeY(agent1 wall1) 4)" 1368 1379)
  ("(relativeY(agent1 wall1) 5)" 1379 1413)
  ("(relativeY(agent1 wall1) 4)" 1413 1422)
  ("(relativeY(agent1 wall1) 3)" 1422 1429)
  ("(relativeY(agent1 wall1) 2)" 1429 1441)
  ("(relativeY(agent1 wall1) 1)" 1441 1462)
  ("(relativeY(agent1 wall1) 2)" 1462 1473)
  ("(relativeY(agent1 wall1) 3)" 1473 1480)
  ("(relativeY(agent1 wall1) 4)" 1480 1489)
  ("(relativeY(agent1 wall1) 5)" 1489 1523)
  ("(relativeY(agent1 wall1) 4)" 1523 1531)
  ("(relativeY(agent1 wall1) 3)" 1531 1539)
  ("(relativeY(agent1 wall1) 2)" 1539 1552)
  ("(relativeY(agent1 wall1) 1)" 1552 1569)
  ("(relativeY(agent1 wall1) 2)" 1569 1581)
  ("(relativeY(agent1 wall1) 3)" 1581 1588)
  ("(relativeY(agent1 wall1) 4)" 1588 1597)
  ("(relativeY(agent1 wall1) 5)" 1597 1632)
  ("(relativeY(agent1 wall1) 4)" 1632 1642)
  ("(relativeY(agent1 wall1) 3)" 1642 1652)
  ("(relativeY(agent1 wall1) 2)" 1652 1676)
  ("(relativeY(agent1 wall1) 3)" 1676 1686)
  ("(relativeY(agent1 wall1) 4)" 1686 1696)
  ("(relativeY(agent1 wall1) 5)" 1696 1731)
  ("(relativeY(agent1 wall1) 4)" 1731 1740)
  ("(relativeY(agent1 wall1) 3)" 1740 1747)
  ("(relativeY(agent1 wall1) 2)" 1747 1760)
  ("(relativeY(agent1 wall1) 1)" 1760 1779)
  ("(relativeY(agent1 wall1) 2)" 1779 1790)
  ("(relativeY(agent1 wall1) 3)" 1790 1797)
  ("(relativeY(agent1 wall1) 4)" 1797 1807)
  ("(relativeY(agent1 wall1) 5)" 1807 1839)
  ("(relativeY(agent1 wall1) 4)" 1839 1848)
  ("(relativeY(agent1 wall1) 3)" 1848 1855)
  ("(relativeY(agent1 wall1) 2)" 1855 1869)
  ("(relativeY(agent1 wall1) 1)" 1869 1880)
  ("(relativeY(agent1 wall1) 2)" 1880 1893)
  ("(relativeY(agent1 wall1) 3)" 1893 1900)
  ("(relativeY(agent1 wall1) 4)" 1900 1910)
  ("(relativeY(agent1 wall1) 5)" 1910 1936)
  ("(relativeY(agent1 wall1) 4)" 1936 1945)
  ("(relativeY(agent1 wall1) 3)" 1945 1952)
  ("(relativeY(agent1 wall1) 2)" 1952 1963)
  ("(relativeY(agent1 wall1) 1)" 1963 1982)
  ("(relativeY(agent1 wall1) 2)" 1982 1991)
  ("(relativeY(agent1 wall1) 3)" 1991 1998)
  ("(relativeY(agent1 wall1) 4)" 1998 2007)
  ("(relativeY(agent1 wall1) 5)" 2007 2036)
  ("(relativeY(agent1 wall1) 4)" 2036 2044)
  ("(relativeY(agent1 wall1) 3)" 2044 2051)
  ("(relativeY(agent1 wall1) 2)" 2051 2060)
  ("(relativeY(agent1 wall1) 1)" 2060 2087)
  ("(relativeY(agent1 wall1) 2)" 2087 2095)
  ("(relativeY(agent1 wall1) 3)" 2095 2101)
  ("(relativeY(agent1 wall1) 4)" 2101 2110)
  ("(relativeY(agent1 wall1) 5)" 2110 2139)
  ("(relativeY(agent1 wall1) 4)" 2139 2147)
  ("(relativeY(agent1 wall1) 3)" 2147 2152)
  ("(relativeY(agent1 wall1) 2)" 2152 2160)
  ("(relativeY(agent1 wall1) 1)" 2160 2199)
  ("(relativeY(agent1 wall1) 2)" 2199 2206)
  ("(relativeY(agent1 wall1) 3)" 2206 2212)
  ("(relativeY(agent1 wall1) 4)" 2212 2221)
  ("(relativeY(agent1 wall1) 5)" 2221 2244)
  ("(relativeY(agent1 wall1) 4)" 2244 2253)
  ("(relativeY(agent1 wall1) 3)" 2253 2258)
  ("(relativeY(agent1 wall1) 2)" 2258 2265)
  ("(relativeY(agent1 wall1) 1)" 2265 2309)
  ("(relativeY(agent1 wall1) 2)" 2309 2315)
  ("(relativeY(agent1 wall1) 3)" 2315 2322)
  ("(relativeY(agent1 wall1) 4)" 2322 2332)
  ("(relativeY(agent1 wall1) 5)" 2332 2351)
  ("(relativeY(agent1 wall1) 4)" 2351 2361)
  ("(relativeY(agent1 wall1) 3)" 2361 2367)
  ("(relativeY(agent1 wall1) 2)" 2367 2377)
  ("(relativeY(agent1 wall1) 1)" 2377 2386)
  ("(relativeY(agent1 wall1) up)" 963 1036)
  ("(relativeY(agent1 wall1) stable)" 1036 1037)
  ("(relativeY(agent1 wall1) down)" 1037 1066)
  ("(relativeY(agent1 wall1) up)" 1118 1151)
  ("(relativeY(agent1 wall1) stable)" 1151 1152)
  ("(relativeY(agent1 wall1) down)" 1152 1198)
  ("(relativeY(agent1 wall1) stable)" 1198 1199)
  ("(relativeY(agent1 wall1) up)" 1199 1250)
  ("(relativeY(agent1 wall1) down)" 1250 1301)
  ("(relativeY(agent1 wall1) stable)" 1301 1302)
  ("(relativeY(agent1 wall1) up)" 1302 1350)
  ("(relativeY(agent1 wall1) down)" 1350 1397)
  ("(relativeY(agent1 wall1) stable)" 1397 1398)
  ("(relativeY(agent1 wall1) up)" 1398 1452)
  ("(relativeY(agent1 wall1) stable)" 1452 1453)
  ("(relativeY(agent1 wall1) down)" 1453 1507)
  ("(relativeY(agent1 wall1) up)" 1507 1561)
  ("(relativeY(agent1 wall1) down)" 1561 1615)
  ("(relativeY(agent1 wall1) stable)" 1615 1616)
  ("(relativeY(agent1 wall1) up)" 1616 1665)
  ("(relativeY(agent1 wall1) down)" 1665 1715)
  ("(relativeY(agent1 wall1) up)" 1715 1770)
  ("(relativeY(agent1 wall1) down)" 1770 1824)
  ("(relativeY(agent1 wall1) up)" 1824 1875)
  ("(relativeY(agent1 wall1) stable)" 1875 1876)
  ("(relativeY(agent1 wall1) down)" 1876 1923)
  ("(relativeY(agent1 wall1) stable)" 1923 1924)
  ("(relativeY(agent1 wall1) up)" 1924 1973)
  ("(relativeY(agent1 wall1) down)" 1973 2022)
  ("(relativeY(agent1 wall1) stable)" 2022 2023)
  ("(relativeY(agent1 wall1) up)" 2023 2074)
  ("(relativeY(agent1 wall1) down)" 2074 2125)
  ("(relativeY(agent1 wall1) stable)" 2125 2126)
  ("(relativeY(agent1 wall1) up)" 2126 2180)
  ("(relativeY(agent1 wall1) down)" 2180 2233)
  ("(relativeY(agent1 wall1) stable)" 2233 2234)
  ("(relativeY(agent1 wall1) up)" 2234 2288)
  ("(relativeY(agent1 wall1) down)" 2288 2342)
  ("(relativeY(agent1 wall1) up)" 2342 2386)
  ("(x(wall3) 3)" 25 122)
  ("(x(wall3) stable)" 26 122)
  ("(y(wall3) 3)" 25 122)
  ("(y(wall3) stable)" 26 122)
  ("(speed(wall3) 3)" 25 122)
  ("(speed(wall3) stable)" 26 122)
  ("(heading(wall3) 3)" 50 97)
  ("(heading(wall3) stable)" 51 97)
  ("(distance(agent1 wall3) 1)" 25 51)
  ("(distance(agent1 wall3) 2)" 51 65)
  ("(distance(agent1 wall3) 3)" 65 78)
  ("(distance(agent1 wall3) 4)" 78 95)
  ("(distance(agent1 wall3) 5)" 95 122)
  ("(distance(agent1 wall3) down)" 26 122)
  ("(relativeX(agent1 wall3) 5)" 25 51)
  ("(relativeX(agent1 wall3) 4)" 51 69)
  ("(relativeX(agent1 wall3) 3)" 69 83)
  ("(relativeX(agent1 wall3) 2)" 83 98)
  ("(relativeX(agent1 wall3) 1)" 98 122)
  ("(relativeX(agent1 wall3) up)" 26 122)
  ("(relativeY(agent1 wall3) 1)" 25 51)
  ("(relativeY(agent1 wall3) 2)" 51 65)
  ("(relativeY(agent1 wall3) 3)" 65 78)
  ("(relativeY(agent1 wall3) 4)" 78 95)
  ("(relativeY(agent1 wall3) 5)" 95 122)
  ("(relativeY(agent1 wall3) down)" 26 122)
 ))
(16
 (
  ("(x(agent1) 1)" 25 354)
  ("(x(agent1) 2)" 354 379)
  ("(x(agent1) 3)" 379 400)
  ("(x(agent1) 4)" 400 625)
  ("(x(agent1) 3)" 625 640)
  ("(x(agent1) 4)" 640 729)
  ("(x(agent1) 3)" 729 752)
  ("(x(agent1) 4)" 752 828)
  ("(x(agent1) 3)" 828 855)
  ("(x(agent1) 4)" 855 932)
  ("(x(agent1) 3)" 932 958)
  ("(x(agent1) 4)" 958 1042)
  ("(x(agent1) 3)" 1042 1063)
  ("(x(agent1) 4)" 1063 1146)
  ("(x(agent1) 3)" 1146 1166)
  ("(x(agent1) 4)" 1166 1249)
  ("(x(agent1) 3)" 1249 1265)
  ("(x(agent1) 4)" 1265 1872)
  ("(x(agent1) 3)" 1872 1886)
  ("(x(agent1) 4)" 1886 1972)
  ("(x(agent1) 3)" 1972 1988)
  ("(x(agent1) 4)" 1988 2079)
  ("(x(agent1) 3)" 2079 2102)
  ("(x(agent1) 4)" 2102 2179)
  ("(x(agent1) 3)" 2179 2201)
  ("(x(agent1) 4)" 2201 2276)
  ("(x(agent1) 3)" 2276 2295)
  ("(x(agent1) 4)" 2295 2391)
  ("(x(agent1) down)" 26 29)
  ("(x(agent1) stable)" 29 44)
  ("(x(agent1) up)" 44 149)
  ("(x(agent1) stable)" 149 173)
  ("(x(agent1) down)" 173 439)
  ("(x(agent1) stable)" 439 442)
  ("(x(agent1) up)" 442 545)
  ("(x(agent1) stable)" 545 555)
  ("(x(agent1) down)" 555 584)
  ("(x(agent1) stable)" 584 591)
  ("(x(agent1) up)" 591 630)
  ("(x(agent1) stable)" 630 635)
  ("(x(agent1) down)" 635 685)
  ("(x(agent1) stable)" 685 689)
  ("(x(agent1) up)" 689 739)
  ("(x(agent1) stable)" 739 743)
  ("(x(agent1) down)" 743 789)
  ("(x(agent1) stable)" 789 793)
  ("(x(agent1) up)" 793 841)
  ("(x(agent1) stable)" 841 845)
  ("(x(agent1) down)" 845 892)
  ("(x(agent1) stable)" 892 896)
  ("(x(agent1) up)" 896 944)
  ("(x(agent1) stable)" 944 948)
  ("(x(agent1) down)" 948 998)
  ("(x(agent1) stable)" 998 1002)
  ("(x(agent1) up)" 1002 1051)
  ("(x(agent1) stable)" 1051 1055)
  ("(x(agent1) down)" 1055 1103)
  ("(x(agent1) stable)" 1103 1107)
  ("(x(agent1) up)" 1107 1155)
  ("(x(agent1) stable)" 1155 1159)
  ("(x(agent1) down)" 1159 1205)
  ("(x(agent1) stable)" 1205 1209)
  ("(x(agent1) up)" 1209 1255)
  ("(x(agent1) stable)" 1255 1260)
  ("(x(agent1) down)" 1260 1307)
  ("(x(agent1) stable)" 1307 1311)
  ("(x(agent1) up)" 1311 1355)
  ("(x(agent1) stable)" 1355 1359)
  ("(x(agent1) down)" 1359 1410)
  ("(x(agent1) stable)" 1410 1413)
  ("(x(agent1) up)" 1413 1464)
  ("(x(agent1) stable)" 1464 1467)
  ("(x(agent1) down)" 1467 1512)
  ("(x(agent1) stable)" 1512 1516)
  ("(x(agent1) up)" 1516 1562)
  ("(x(agent1) stable)" 1562 1565)
  ("(x(agent1) down)" 1565 1617)
  ("(x(agent1) stable)" 1617 1620)
  ("(x(agent1) up)" 1620 1671)
  ("(x(agent1) stable)" 1671 1674)
  ("(x(agent1) down)" 1674 1725)
  ("(x(agent1) stable)" 1725 1728)
  ("(x(agent1) up)" 1728 1780)
  ("(x(agent1) stable)" 1780 1783)
  ("(x(agent1) down)" 1783 1828)
  ("(x(agent1) stable)" 1828 1832)
  ("(x(agent1) up)" 1832 1878)
  ("(x(agent1) stable)" 1878 1881)
  ("(x(agent1) down)" 1881 1928)
  ("(x(agent1) stable)" 1928 1932)
  ("(x(agent1) up)" 1932 1979)
  ("(x(agent1) stable)" 1979 1982)
  ("(x(agent1) down)" 1982 2033)
  ("(x(agent1) stable)" 2033 2036)
  ("(x(agent1) up)" 2036 2089)
  ("(x(agent1) stable)" 2089 2092)
  ("(x(agent1) down)" 2092 2139)
  ("(x(agent1) stable)" 2139 2142)
  ("(x(agent1) up)" 2142 2189)
  ("(x(agent1) stable)" 2189 2192)
  ("(x(agent1) down)" 2192 2238)
  ("(x(agent1) stable)" 2238 2241)
  ("(x(agent1) up)" 2241 2285)
  ("(x(agent1) stable)" 2285 2288)
  ("(x(agent1) down)" 2288 2340)
  ("(x(agent1) stable)" 2340 2343)
  ("(x(agent1) up)" 2343 2391)
  ("(y(agent1) 5)" 25 290)
  ("(y(agent1) 4)" 290 525)
  ("(y(agent1) 3)" 525 614)
  ("(y(agent1) 2)" 614 2391)
  ("(y(agent1) up)" 26 379)
  ("(y(agent1) stable)" 379 395)
  ("(y(agent1) down)" 395 447)
  ("(y(agent1) stable)" 447 478)
  ("(y(agent1) up)" 478 686)
  ("(y(agent1) stable)" 686 751)
  ("(y(agent1) up)" 751 778)
  ("(y(agent1) stable)" 778 808)
  ("(y(agent1) down)" 808 823)
  ("(y(agent1) stable)" 823 857)
  ("(y(agent1) up)" 857 877)
  ("(y(agent1) stable)" 877 908)
  ("(y(agent1) down)" 908 930)
  ("(y(agent1) stable)" 930 959)
  ("(y(agent1) up)" 959 983)
  ("(y(agent1) stable)" 983 1012)
  ("(y(agent1) down)" 1012 1040)
  ("(y(agent1) stable)" 1040 1068)
  ("(y(agent1) up)" 1068 1087)
  ("(y(agent1) stable)" 1087 1116)
  ("(y(agent1) down)" 1116 1144)
  ("(y(agent1) stable)" 1144 1172)
  ("(y(agent1) up)" 1172 1189)
  ("(y(agent1) stable)" 1189 1218)
  ("(y(agent1) down)" 1218 1246)
  ("(y(agent1) stable)" 1246 1272)
  ("(y(agent1) up)" 1272 1293)
  ("(y(agent1) stable)" 1293 1320)
  ("(y(agent1) down)" 1320 1345)
  ("(y(agent1) stable)" 1345 1369)
  ("(y(agent1) up)" 1369 1400)
  ("(y(agent1) stable)" 1400 1424)
  ("(y(agent1) down)" 1424 1452)
  ("(y(agent1) stable)" 1452 1476)
  ("(y(agent1) up)" 1476 1501)
  ("(y(agent1) stable)" 1501 1525)
  ("(y(agent1) down)" 1525 1550)
  ("(y(agent1) stable)" 1550 1573)
  ("(y(agent1) up)" 1573 1607)
  ("(y(agent1) stable)" 1607 1629)
  ("(y(agent1) down)" 1629 1662)
  ("(y(agent1) stable)" 1662 1683)
  ("(y(agent1) up)" 1683 1716)
  ("(y(agent1) stable)" 1716 1740)
  ("(y(agent1) down)" 1740 1767)
  ("(y(agent1) stable)" 1767 1792)
  ("(y(agent1) up)" 1792 1819)
  ("(y(agent1) stable)" 1819 1843)
  ("(y(agent1) down)" 1843 1864)
  ("(y(agent1) stable)" 1864 1890)
  ("(y(agent1) up)" 1890 1919)
  ("(y(agent1) stable)" 1919 1945)
  ("(y(agent1) down)" 1945 1965)
  ("(y(agent1) stable)" 1965 1991)
  ("(y(agent1) up)" 1991 2025)
  ("(y(agent1) stable)" 2025 2051)
  ("(y(agent1) down)" 2051 2074)
  ("(y(agent1) stable)" 2074 2101)
  ("(y(agent1) up)" 2101 2129)
  ("(y(agent1) stable)" 2129 2154)
  ("(y(agent1) down)" 2154 2175)
  ("(y(agent1) stable)" 2175 2201)
  ("(y(agent1) up)" 2201 2227)
  ("(y(agent1) stable)" 2227 2248)
  ("(y(agent1) down)" 2248 2277)
  ("(y(agent1) stable)" 2277 2297)
  ("(y(agent1) up)" 2297 2331)
  ("(y(agent1) stable)" 2331 2349)
  ("(y(agent1) down)" 2349 2385)
  ("(y(agent1) stable)" 2385 2391)
  ("(speed(agent1) 4)" 25 36)
  ("(speed(agent1) 3)" 36 47)
  ("(speed(agent1) 2)" 47 62)
  ("(speed(agent1) 1)" 62 412)
  ("(speed(agent1) 2)" 412 419)
  ("(speed(agent1) 3)" 419 427)
  ("(speed(agent1) 4)" 427 438)
  ("(speed(agent1) 5)" 438 509)
  ("(speed(agent1) 4)" 509 528)
  ("(speed(agent1) 3)" 528 598)
  ("(speed(agent1) 4)" 598 639)
  ("(speed(agent1) 3)" 639 647)
  ("(speed(agent1) 4)" 647 674)
  ("(speed(agent1) 5)" 674 704)
  ("(speed(agent1) 4)" 704 733)
  ("(speed(agent1) 3)" 733 751)
  ("(speed(agent1) 4)" 751 770)
  ("(speed(agent1) 5)" 770 809)
  ("(speed(agent1) 4)" 809 871)
  ("(speed(agent1) 5)" 871 912)
  ("(speed(agent1) 4)" 912 981)
  ("(speed(agent1) 5)" 981 1017)
  ("(speed(agent1) 4)" 1017 1045)
  ("(speed(agent1) 3)" 1045 1064)
  ("(speed(agent1) 4)" 1064 1085)
  ("(speed(agent1) 5)" 1085 1122)
  ("(speed(agent1) 4)" 1122 1152)
  ("(speed(agent1) 3)" 1152 1167)
  ("(speed(agent1) 4)" 1167 1186)
  ("(speed(agent1) 5)" 1186 1225)
  ("(speed(agent1) 4)" 1225 1257)
  ("(speed(agent1) 3)" 1257 1271)
  ("(speed(agent1) 4)" 1271 1301)
  ("(speed(agent1) 5)" 1301 1317)
  ("(speed(agent1) 4)" 1317 1339)
  ("(speed(agent1) 3)" 1339 1384)
  ("(speed(agent1) 4)" 1384 1414)
  ("(speed(agent1) 5)" 1414 1418)
  ("(speed(agent1) 4)" 1418 1432)
  ("(speed(agent1) 3)" 1432 1454)
  ("(speed(agent1) 2)" 1454 1475)
  ("(speed(agent1) 3)" 1475 1484)
  ("(speed(agent1) 4)" 1484 1516)
  ("(speed(agent1) 5)" 1516 1520)
  ("(speed(agent1) 4)" 1520 1538)
  ("(speed(agent1) 3)" 1538 1562)
  ("(speed(agent1) 2)" 1562 1578)
  ("(speed(agent1) 3)" 1578 1593)
  ("(speed(agent1) 4)" 1593 1620)
  ("(speed(agent1) 5)" 1620 1624)
  ("(speed(agent1) 4)" 1624 1639)
  ("(speed(agent1) 3)" 1639 1659)
  ("(speed(agent1) 2)" 1659 1687)
  ("(speed(agent1) 3)" 1687 1702)
  ("(speed(agent1) 4)" 1702 1728)
  ("(speed(agent1) 5)" 1728 1732)
  ("(speed(agent1) 4)" 1732 1747)
  ("(speed(agent1) 3)" 1747 1765)
  ("(speed(agent1) 2)" 1765 1792)
  ("(speed(agent1) 3)" 1792 1800)
  ("(speed(agent1) 4)" 1800 1832)
  ("(speed(agent1) 5)" 1832 1836)
  ("(speed(agent1) 4)" 1836 1854)
  ("(speed(agent1) 3)" 1854 1878)
  ("(speed(agent1) 2)" 1878 1889)
  ("(speed(agent1) 3)" 1889 1900)
  ("(speed(agent1) 4)" 1900 1933)
  ("(speed(agent1) 5)" 1933 1936)
  ("(speed(agent1) 4)" 1936 1952)
  ("(speed(agent1) 3)" 1952 1977)
  ("(speed(agent1) 2)" 1977 1995)
  ("(speed(agent1) 3)" 1995 2011)
  ("(speed(agent1) 4)" 2011 2038)
  ("(speed(agent1) 5)" 2038 2041)
  ("(speed(agent1) 4)" 2041 2056)
  ("(speed(agent1) 3)" 2056 2080)
  ("(speed(agent1) 2)" 2080 2099)
  ("(speed(agent1) 3)" 2099 2109)
  ("(speed(agent1) 4)" 2109 2143)
  ("(speed(agent1) 5)" 2143 2147)
  ("(speed(agent1) 4)" 2147 2164)
  ("(speed(agent1) 3)" 2164 2189)
  ("(speed(agent1) 2)" 2189 2199)
  ("(speed(agent1) 3)" 2199 2210)
  ("(speed(agent1) 4)" 2210 2258)
  ("(speed(agent1) 3)" 2258 2277)
  ("(speed(agent1) 2)" 2277 2307)
  ("(speed(agent1) 3)" 2307 2329)
  ("(speed(agent1) 4)" 2329 2356)
  ("(speed(agent1) 3)" 2356 2363)
  ("(speed(agent1) 2)" 2363 2389)
  ("(speed(agent1) 1)" 2389 2391)
  ("(speed(agent1) up)" 26 225)
  ("(speed(agent1) stable)" 225 267)
  ("(speed(agent1) down)" 267 333)
  ("(speed(agent1) stable)" 333 338)
  ("(speed(agent1) up)" 338 377)
  ("(speed(agent1) stable)" 377 380)
  ("(speed(agent1) down)" 380 447)
  ("(speed(agent1) stable)" 447 448)
  ("(speed(agent1) up)" 448 453)
  ("(speed(agent1) down)" 453 469)
  ("(speed(agent1) stable)" 469 472)
  ("(speed(agent1) up)" 472 494)
  ("(speed(agent1) stable)" 494 500)
  ("(speed(agent1) down)" 500 504)
  ("(speed(agent1) up)" 504 557)
  ("(speed(agent1) stable)" 557 558)
  ("(speed(agent1) down)" 558 568)
  ("(speed(agent1) up)" 568 570)
  ("(speed(agent1) stable)" 570 571)
  ("(speed(agent1) down)" 571 617)
  ("(speed(agent1) stable)" 617 618)
  ("(speed(agent1) up)" 618 643)
  ("(speed(agent1) stable)" 643 644)
  ("(speed(agent1) down)" 644 693)
  ("(speed(agent1) up)" 693 744)
  ("(speed(agent1) stable)" 744 745)
  ("(speed(agent1) down)" 745 796)
  ("(speed(agent1) up)" 796 847)
  ("(speed(agent1) stable)" 847 848)
  ("(speed(agent1) down)" 848 899)
  ("(speed(agent1) up)" 899 952)
  ("(speed(agent1) stable)" 952 953)
  ("(speed(agent1) down)" 953 1004)
  ("(speed(agent1) stable)" 1004 1005)
  ("(speed(agent1) up)" 1005 1057)
  ("(speed(agent1) stable)" 1057 1058)
  ("(speed(agent1) down)" 1058 1109)
  ("(speed(agent1) stable)" 1109 1110)
  ("(speed(agent1) up)" 1110 1161)
  ("(speed(agent1) down)" 1161 1212)
  ("(speed(agent1) up)" 1212 1265)
  ("(speed(agent1) down)" 1265 1310)
  ("(speed(agent1) stable)" 1310 1314)
  ("(speed(agent1) up)" 1314 1365)
  ("(speed(agent1) stable)" 1365 1366)
  ("(speed(agent1) down)" 1366 1416)
  ("(speed(agent1) stable)" 1416 1417)
  ("(speed(agent1) up)" 1417 1467)
  ("(speed(agent1) stable)" 1467 1468)
  ("(speed(agent1) down)" 1468 1519)
  ("(speed(agent1) up)" 1519 1571)
  ("(speed(agent1) down)" 1571 1623)
  ("(speed(agent1) up)" 1623 1678)
  ("(speed(agent1) stable)" 1678 1679)
  ("(speed(agent1) down)" 1679 1731)
  ("(speed(agent1) up)" 1731 1783)
  ("(speed(agent1) down)" 1783 1835)
  ("(speed(agent1) up)" 1835 1884)
  ("(speed(agent1) stable)" 1884 1885)
  ("(speed(agent1) down)" 1885 1935)
  ("(speed(agent1) up)" 1935 1988)
  ("(speed(agent1) down)" 1988 2040)
  ("(speed(agent1) up)" 2040 2093)
  ("(speed(agent1) stable)" 2093 2094)
  ("(speed(agent1) down)" 2094 2145)
  ("(speed(agent1) stable)" 2145 2146)
  ("(speed(agent1) up)" 2146 2194)
  ("(speed(agent1) stable)" 2194 2195)
  ("(speed(agent1) down)" 2195 2243)
  ("(speed(agent1) up)" 2243 2296)
  ("(speed(agent1) down)" 2296 2346)
  ("(speed(agent1) up)" 2346 2391)
  ("(heading(agent1) 5)" 50 433)
  ("(heading(agent1) 4)" 433 505)
  ("(heading(agent1) 3)" 505 601)
  ("(heading(agent1) 2)" 601 2366)
  ("(heading(agent1) up)" 51 667)
  ("(heading(agent1) stable)" 667 2366)
  ("(energy(agent1) 1)" 25 613)
  ("(energy(agent1) 2)" 613 1143)
  ("(energy(agent1) 3)" 1143 1468)
  ("(energy(agent1) 4)" 1468 1789)
  ("(energy(agent1) 5)" 1789 2391)
  ("(energy(agent1) stable)" 26 454)
  ("(energy(agent1) down)" 454 505)
  ("(energy(agent1) stable)" 505 518)
  ("(energy(agent1) down)" 518 569)
  ("(energy(agent1) stable)" 569 605)
  ("(energy(agent1) down)" 605 656)
  ("(energy(agent1) stable)" 656 712)
  ("(energy(agent1) down)" 712 763)
  ("(energy(agent1) stable)" 763 813)
  ("(energy(agent1) down)" 813 864)
  ("(energy(agent1) stable)" 864 916)
  ("(energy(agent1) down)" 916 967)
  ("(energy(agent1) stable)" 967 1024)
  ("(energy(agent1) down)" 1024 1075)
  ("(energy(agent1) stable)" 1075 1128)
  ("(energy(agent1) down)" 1128 1179)
  ("(energy(agent1) stable)" 1179 1229)
  ("(energy(agent1) down)" 1229 1280)
  ("(energy(agent1) stable)" 1280 1328)
  ("(energy(agent1) down)" 1328 1379)
  ("(energy(agent1) stable)" 1379 1436)
  ("(energy(agent1) down)" 1436 1487)
  ("(energy(agent1) stable)" 1487 1535)
  ("(energy(agent1) down)" 1535 1586)
  ("(energy(agent1) stable)" 1586 1643)
  ("(energy(agent1) down)" 1643 1694)
  ("(energy(agent1) stable)" 1694 1752)
  ("(energy(agent1) down)" 1752 1803)
  ("(energy(agent1) stable)" 1803 1851)
  ("(energy(agent1) down)" 1851 1902)
  ("(energy(agent1) stable)" 1902 1952)
  ("(energy(agent1) down)" 1952 2003)
  ("(energy(agent1) stable)" 2003 2061)
  ("(energy(agent1) down)" 2061 2112)
  ("(energy(agent1) stable)" 2112 2162)
  ("(energy(agent1) down)" 2162 2213)
  ("(energy(agent1) stable)" 2213 2258)
  ("(energy(agent1) down)" 2258 2309)
  ("(energy(agent1) stable)" 2309 2365)
  ("(energy(agent1) down)" 2365 2391)
  ("(arousal(agent1) 5)" 25 490)
  ("(arousal(agent1) 4)" 490 531)
  ("(arousal(agent1) 3)" 531 564)
  ("(arousal(agent1) 2)" 564 2391)
  ("(arousal(agent1) down)" 26 273)
  ("(arousal(agent1) stable)" 273 289)
  ("(arousal(agent1) up)" 289 629)
  ("(arousal(agent1) stable)" 629 643)
  ("(arousal(agent1) down)" 643 711)
  ("(arousal(agent1) up)" 711 762)
  ("(arousal(agent1) down)" 762 812)
  ("(arousal(agent1) up)" 812 863)
  ("(arousal(agent1) down)" 863 915)
  ("(arousal(agent1) up)" 915 966)
  ("(arousal(agent1) down)" 966 1023)
  ("(arousal(agent1) up)" 1023 1074)
  ("(arousal(agent1) down)" 1074 1127)
  ("(arousal(agent1) up)" 1127 1178)
  ("(arousal(agent1) down)" 1178 1228)
  ("(arousal(agent1) up)" 1228 1279)
  ("(arousal(agent1) down)" 1279 1327)
  ("(arousal(agent1) up)" 1327 1378)
  ("(arousal(agent1) down)" 1378 1413)
  ("(arousal(agent1) stable)" 1413 1429)
  ("(arousal(agent1) up)" 1429 1482)
  ("(arousal(agent1) stable)" 1482 1601)
  ("(arousal(agent1) down)" 1601 1617)
  ("(arousal(agent1) stable)" 1617 1652)
  ("(arousal(agent1) up)" 1652 1668)
  ("(arousal(agent1) stable)" 1668 1715)
  ("(arousal(agent1) down)" 1715 1725)
  ("(arousal(agent1) stable)" 1725 1766)
  ("(arousal(agent1) up)" 1766 1776)
  ("(arousal(agent1) stable)" 1776 2022)
  ("(arousal(agent1) down)" 2022 2036)
  ("(arousal(agent1) stable)" 2036 2073)
  ("(arousal(agent1) up)" 2073 2087)
  ("(arousal(agent1) stable)" 2087 2326)
  ("(arousal(agent1) down)" 2326 2347)
  ("(arousal(agent1) stable)" 2347 2377)
  ("(arousal(agent1) up)" 2377 2391)
  ("(valence(agent1) 5)" 25 552)
  ("(valence(agent1) 4)" 552 635)
  ("(valence(agent1) 3)" 635 732)
  ("(valence(agent1) 2)" 732 2391)
  ("(valence(agent1) stable)" 26 453)
  ("(valence(agent1) up)" 453 504)
  ("(valence(agent1) down)" 504 517)
  ("(valence(agent1) up)" 517 568)
  ("(valence(agent1) down)" 568 604)
  ("(valence(agent1) up)" 604 655)
  ("(valence(agent1) down)" 655 711)
  ("(valence(agent1) up)" 711 762)
  ("(valence(agent1) down)" 762 812)
  ("(valence(agent1) up)" 812 863)
  ("(valence(agent1) down)" 863 915)
  ("(valence(agent1) up)" 915 966)
  ("(valence(agent1) down)" 966 1023)
  ("(valence(agent1) up)" 1023 1074)
  ("(valence(agent1) down)" 1074 1127)
  ("(valence(agent1) up)" 1127 1178)
  ("(valence(agent1) down)" 1178 1228)
  ("(valence(agent1) up)" 1228 1279)
  ("(valence(agent1) down)" 1279 1327)
  ("(valence(agent1) up)" 1327 1378)
  ("(valence(agent1) down)" 1378 1435)
  ("(valence(agent1) up)" 1435 1486)
  ("(valence(agent1) down)" 1486 1534)
  ("(valence(agent1) up)" 1534 1585)
  ("(valence(agent1) down)" 1585 1642)
  ("(valence(agent1) up)" 1642 1693)
  ("(valence(agent1) down)" 1693 1751)
  ("(valence(agent1) up)" 1751 1802)
  ("(valence(agent1) down)" 1802 1850)
  ("(valence(agent1) up)" 1850 1901)
  ("(valence(agent1) down)" 1901 1951)
  ("(valence(agent1) up)" 1951 2002)
  ("(valence(agent1) down)" 2002 2060)
  ("(valence(agent1) up)" 2060 2111)
  ("(valence(agent1) down)" 2111 2161)
  ("(valence(agent1) up)" 2161 2212)
  ("(valence(agent1) down)" 2212 2257)
  ("(valence(agent1) up)" 2257 2308)
  ("(valence(agent1) down)" 2308 2364)
  ("(valence(agent1) up)" 2364 2391)
  ("(goal(agent1) WanderGoal)" 0 289)
  ("(goal(agent1) PursueGoal)" 289 2416)
  ("(state(agent1) wander)" 0 289)
  ("(state(agent1) charge)" 289 478)
  ("(state(agent1) back-away)" 478 512)
  ("(state(agent1) charge)" 512 542)
  ("(state(agent1) back-away)" 542 576)
  ("(state(agent1) charge)" 576 628)
  ("(state(agent1) back-away)" 628 662)
  ("(state(agent1) charge)" 662 735)
  ("(state(agent1) back-away)" 735 766)
  ("(state(agent1) charge)" 766 837)
  ("(state(agent1) back-away)" 837 869)
  ("(state(agent1) charge)" 869 940)
  ("(state(agent1) back-away)" 940 974)
  ("(state(agent1) charge)" 974 1047)
  ("(state(agent1) back-away)" 1047 1079)
  ("(state(agent1) charge)" 1079 1151)
  ("(state(agent1) back-away)" 1151 1182)
  ("(state(agent1) charge)" 1182 1252)
  ("(state(agent1) back-away)" 1252 1286)
  ("(state(agent1) charge)" 1286 1352)
  ("(state(agent1) back-away)" 1352 1386)
  ("(state(agent1) charge)" 1386 1459)
  ("(state(agent1) back-away)" 1459 1489)
  ("(state(agent1) charge)" 1489 1558)
  ("(state(agent1) back-away)" 1558 1592)
  ("(state(agent1) charge)" 1592 1666)
  ("(state(agent1) back-away)" 1666 1700)
  ("(state(agent1) charge)" 1700 1775)
  ("(state(agent1) back-away)" 1775 1805)
  ("(state(agent1) charge)" 1805 1874)
  ("(state(agent1) back-away)" 1874 1905)
  ("(state(agent1) charge)" 1905 1975)
  ("(state(agent1) back-away)" 1975 2009)
  ("(state(agent1) charge)" 2009 2085)
  ("(state(agent1) back-away)" 2085 2116)
  ("(state(agent1) charge)" 2116 2185)
  ("(state(agent1) back-away)" 2185 2215)
  ("(state(agent1) charge)" 2215 2282)
  ("(state(agent1) back-away)" 2282 2316)
  ("(state(agent1) charge)" 2316 2388)
  ("(state(agent1) back-away)" 2388 2416)
  ("(x(agent2) 5)" 313 382)
  ("(x(agent2) 4)" 564 582)
  ("(x(agent2) 3)" 582 612)
  ("(x(agent2) 4)" 612 641)
  ("(x(agent2) 3)" 641 669)
  ("(x(agent2) 2)" 669 706)
  ("(x(agent2) 3)" 706 774)
  ("(x(agent2) 2)" 774 807)
  ("(x(agent2) 3)" 807 877)
  ("(x(agent2) 2)" 877 909)
  ("(x(agent2) 3)" 909 979)
  ("(x(agent2) 2)" 979 1019)
  ("(x(agent2) 3)" 1019 1087)
  ("(x(agent2) 2)" 1087 1120)
  ("(x(agent2) 3)" 1120 1195)
  ("(x(agent2) 2)" 1195 1218)
  ("(x(agent2) 3)" 1218 1292)
  ("(x(agent2) 2)" 1292 1324)
  ("(x(agent2) 3)" 1324 1384)
  ("(x(agent2) 2)" 1384 1437)
  ("(x(agent2) 3)" 1437 1492)
  ("(x(agent2) 2)" 1492 1533)
  ("(x(agent2) 3)" 1533 1589)
  ("(x(agent2) 2)" 1589 1645)
  ("(x(agent2) 3)" 1645 1695)
  ("(x(agent2) 2)" 1695 1755)
  ("(x(agent2) 3)" 1755 1806)
  ("(x(agent2) 2)" 1806 1852)
  ("(x(agent2) 3)" 1852 1904)
  ("(x(agent2) 2)" 1904 1955)
  ("(x(agent2) 3)" 1955 2002)
  ("(x(agent2) 2)" 2002 2066)
  ("(x(agent2) 3)" 2066 2114)
  ("(x(agent2) 2)" 2114 2166)
  ("(x(agent2) 3)" 2166 2214)
  ("(x(agent2) 2)" 2214 2261)
  ("(x(agent2) 3)" 2261 2307)
  ("(x(agent2) 2)" 2307 2332)
  ("(x(agent2) 1)" 2332 2350)
  ("(x(agent2) 2)" 2350 2374)
  ("(x(agent2) 3)" 2374 2391)
  ("(x(agent2) up)" 314 382)
  ("(x(agent2) up)" 565 596)
  ("(x(agent2) stable)" 596 598)
  ("(x(agent2) down)" 598 627)
  ("(x(agent2) stable)" 627 630)
  ("(x(agent2) up)" 630 687)
  ("(x(agent2) stable)" 687 689)
  ("(x(agent2) down)" 689 740)
  ("(x(agent2) stable)" 740 741)
  ("(x(agent2) up)" 741 790)
  ("(x(agent2) stable)" 790 792)
  ("(x(agent2) down)" 792 842)
  ("(x(agent2) stable)" 842 844)
  ("(x(agent2) up)" 844 893)
  ("(x(agent2) stable)" 893 895)
  ("(x(agent2) down)" 895 945)
  ("(x(agent2) stable)" 945 947)
  ("(x(agent2) up)" 947 999)
  ("(x(agent2) stable)" 999 1001)
  ("(x(agent2) down)" 1001 1052)
  ("(x(agent2) stable)" 1052 1054)
  ("(x(agent2) up)" 1054 1103)
  ("(x(agent2) stable)" 1103 1105)
  ("(x(agent2) down)" 1105 1156)
  ("(x(agent2) stable)" 1156 1158)
  ("(x(agent2) up)" 1158 1206)
  ("(x(agent2) stable)" 1206 1208)
  ("(x(agent2) down)" 1208 1257)
  ("(x(agent2) stable)" 1257 1259)
  ("(x(agent2) up)" 1259 1308)
  ("(x(agent2) stable)" 1308 1310)
  ("(x(agent2) down)" 1310 1356)
  ("(x(agent2) stable)" 1356 1358)
  ("(x(agent2) up)" 1358 1411)
  ("(x(agent2) stable)" 1411 1412)
  ("(x(agent2) down)" 1412 1464)
  ("(x(agent2) stable)" 1464 1466)
  ("(x(agent2) up)" 1466 1513)
  ("(x(agent2) stable)" 1513 1515)
  ("(x(agent2) down)" 1515 1563)
  ("(x(agent2) stable)" 1563 1564)
  ("(x(agent2) up)" 1564 1618)
  ("(x(agent2) stable)" 1618 1619)
  ("(x(agent2) down)" 1619 1671)
  ("(x(agent2) stable)" 1671 1673)
  ("(x(agent2) up)" 1673 1726)
  ("(x(agent2) stable)" 1726 1727)
  ("(x(agent2) down)" 1727 1780)
  ("(x(agent2) stable)" 1780 1782)
  ("(x(agent2) up)" 1782 1829)
  ("(x(agent2) stable)" 1829 1831)
  ("(x(agent2) down)" 1831 1879)
  ("(x(agent2) stable)" 1879 1880)
  ("(x(agent2) up)" 1880 1930)
  ("(x(agent2) stable)" 1930 1931)
  ("(x(agent2) down)" 1931 1980)
  ("(x(agent2) stable)" 1980 1981)
  ("(x(agent2) up)" 1981 2035)
  ("(x(agent2) stable)" 2035 2036)
  ("(x(agent2) down)" 2036 2090)
  ("(x(agent2) stable)" 2090 2092)
  ("(x(agent2) up)" 2092 2140)
  ("(x(agent2) stable)" 2140 2142)
  ("(x(agent2) down)" 2142 2190)
  ("(x(agent2) stable)" 2190 2191)
  ("(x(agent2) up)" 2191 2238)
  ("(x(agent2) stable)" 2238 2240)
  ("(x(agent2) down)" 2240 2286)
  ("(x(agent2) stable)" 2286 2287)
  ("(x(agent2) up)" 2287 2341)
  ("(x(agent2) stable)" 2341 2342)
  ("(x(agent2) down)" 2342 2391)
  ("(y(agent2) 5)" 313 382)
  ("(y(agent2) 5)" 564 606)
  ("(y(agent2) 4)" 606 631)
  ("(y(agent2) 3)" 631 711)
  ("(y(agent2) 2)" 711 890)
  ("(y(agent2) 3)" 890 900)
  ("(y(agent2) 2)" 900 977)
  ("(y(agent2) 3)" 977 1023)
  ("(y(agent2) 2)" 1023 1076)
  ("(y(agent2) 3)" 1076 1138)
  ("(y(agent2) 2)" 1138 1170)
  ("(y(agent2) 3)" 1170 1763)
  ("(y(agent2) 2)" 1763 1800)
  ("(y(agent2) 3)" 1800 1853)
  ("(y(agent2) 2)" 1853 1910)
  ("(y(agent2) 3)" 1910 1942)
  ("(y(agent2) 2)" 1942 2316)
  ("(y(agent2) 3)" 2316 2370)
  ("(y(agent2) 2)" 2370 2391)
  ("(y(agent2) down)" 314 366)
  ("(y(agent2) stable)" 366 371)
  ("(y(agent2) up)" 371 382)
  ("(y(agent2) up)" 565 742)
  ("(y(agent2) stable)" 742 746)
  ("(y(agent2) down)" 746 787)
  ("(y(agent2) stable)" 787 792)
  ("(y(agent2) up)" 792 840)
  ("(y(agent2) stable)" 840 844)
  ("(y(agent2) down)" 844 893)
  ("(y(agent2) stable)" 893 897)
  ("(y(agent2) up)" 897 942)
  ("(y(agent2) stable)" 942 946)
  ("(y(agent2) down)" 946 999)
  ("(y(agent2) stable)" 999 1003)
  ("(y(agent2) up)" 1003 1050)
  ("(y(agent2) stable)" 1050 1053)
  ("(y(agent2) down)" 1053 1105)
  ("(y(agent2) stable)" 1105 1108)
  ("(y(agent2) up)" 1108 1153)
  ("(y(agent2) stable)" 1153 1157)
  ("(y(agent2) down)" 1157 1207)
  ("(y(agent2) stable)" 1207 1211)
  ("(y(agent2) up)" 1211 1256)
  ("(y(agent2) stable)" 1256 1260)
  ("(y(agent2) down)" 1260 1308)
  ("(y(agent2) stable)" 1308 1311)
  ("(y(agent2) up)" 1311 1357)
  ("(y(agent2) stable)" 1357 1360)
  ("(y(agent2) down)" 1360 1409)
  ("(y(agent2) stable)" 1409 1412)
  ("(y(agent2) up)" 1412 1463)
  ("(y(agent2) stable)" 1463 1466)
  ("(y(agent2) down)" 1466 1513)
  ("(y(agent2) stable)" 1513 1517)
  ("(y(agent2) up)" 1517 1561)
  ("(y(agent2) stable)" 1561 1565)
  ("(y(agent2) down)" 1565 1615)
  ("(y(agent2) stable)" 1615 1618)
  ("(y(agent2) up)" 1618 1673)
  ("(y(agent2) stable)" 1673 1676)
  ("(y(agent2) down)" 1676 1723)
  ("(y(agent2) stable)" 1723 1726)
  ("(y(agent2) up)" 1726 1780)
  ("(y(agent2) stable)" 1780 1783)
  ("(y(agent2) down)" 1783 1827)
  ("(y(agent2) stable)" 1827 1830)
  ("(y(agent2) up)" 1830 1880)
  ("(y(agent2) stable)" 1880 1883)
  ("(y(agent2) down)" 1883 1925)
  ("(y(agent2) stable)" 1925 1929)
  ("(y(agent2) up)" 1929 1982)
  ("(y(agent2) stable)" 1982 1986)
  ("(y(agent2) down)" 1986 2030)
  ("(y(agent2) stable)" 2030 2034)
  ("(y(agent2) up)" 2034 2089)
  ("(y(agent2) stable)" 2089 2092)
  ("(y(agent2) down)" 2092 2139)
  ("(y(agent2) stable)" 2139 2143)
  ("(y(agent2) up)" 2143 2186)
  ("(y(agent2) stable)" 2186 2190)
  ("(y(agent2) down)" 2190 2239)
  ("(y(agent2) stable)" 2239 2242)
  ("(y(agent2) up)" 2242 2284)
  ("(y(agent2) stable)" 2284 2287)
  ("(y(agent2) down)" 2287 2342)
  ("(y(agent2) stable)" 2342 2344)
  ("(y(agent2) up)" 2344 2391)
  ("(speed(agent2) 1)" 313 382)
  ("(speed(agent2) 3)" 564 652)
  ("(speed(agent2) 4)" 652 671)
  ("(speed(agent2) 5)" 671 704)
  ("(speed(agent2) 4)" 704 716)
  ("(speed(agent2) 3)" 716 756)
  ("(speed(agent2) 4)" 756 770)
  ("(speed(agent2) 5)" 770 809)
  ("(speed(agent2) 4)" 809 831)
  ("(speed(agent2) 3)" 831 856)
  ("(speed(agent2) 4)" 856 871)
  ("(speed(agent2) 5)" 871 912)
  ("(speed(agent2) 4)" 912 934)
  ("(speed(agent2) 3)" 934 961)
  ("(speed(agent2) 4)" 961 981)
  ("(speed(agent2) 5)" 981 1017)
  ("(speed(agent2) 4)" 1017 1030)
  ("(speed(agent2) 3)" 1030 1070)
  ("(speed(agent2) 4)" 1070 1085)
  ("(speed(agent2) 5)" 1085 1122)
  ("(speed(agent2) 4)" 1122 1137)
  ("(speed(agent2) 3)" 1137 1172)
  ("(speed(agent2) 4)" 1172 1186)
  ("(speed(agent2) 5)" 1186 1225)
  ("(speed(agent2) 4)" 1225 1243)
  ("(speed(agent2) 3)" 1243 1276)
  ("(speed(agent2) 4)" 1276 1301)
  ("(speed(agent2) 5)" 1301 1317)
  ("(speed(agent2) 4)" 1317 1332)
  ("(speed(agent2) 3)" 1332 1346)
  ("(speed(agent2) 2)" 1346 1376)
  ("(speed(agent2) 3)" 1376 1392)
  ("(speed(agent2) 4)" 1392 1414)
  ("(speed(agent2) 5)" 1414 1418)
  ("(speed(agent2) 4)" 1418 1429)
  ("(speed(agent2) 3)" 1429 1434)
  ("(speed(agent2) 2)" 1434 1458)
  ("(speed(agent2) 1)" 1458 1473)
  ("(speed(agent2) 2)" 1473 1482)
  ("(speed(agent2) 3)" 1482 1490)
  ("(speed(agent2) 4)" 1490 1516)
  ("(speed(agent2) 5)" 1516 1520)
  ("(speed(agent2) 4)" 1520 1532)
  ("(speed(agent2) 3)" 1532 1544)
  ("(speed(agent2) 2)" 1544 1565)
  ("(speed(agent2) 1)" 1565 1576)
  ("(speed(agent2) 2)" 1576 1588)
  ("(speed(agent2) 3)" 1588 1600)
  ("(speed(agent2) 4)" 1600 1620)
  ("(speed(agent2) 5)" 1620 1624)
  ("(speed(agent2) 4)" 1624 1636)
  ("(speed(agent2) 3)" 1636 1641)
  ("(speed(agent2) 2)" 1641 1663)
  ("(speed(agent2) 1)" 1663 1686)
  ("(speed(agent2) 2)" 1686 1697)
  ("(speed(agent2) 3)" 1697 1709)
  ("(speed(agent2) 4)" 1709 1729)
  ("(speed(agent2) 5)" 1729 1732)
  ("(speed(agent2) 4)" 1732 1744)
  ("(speed(agent2) 3)" 1744 1749)
  ("(speed(agent2) 2)" 1749 1769)
  ("(speed(agent2) 1)" 1769 1790)
  ("(speed(agent2) 2)" 1790 1798)
  ("(speed(agent2) 3)" 1798 1806)
  ("(speed(agent2) 4)" 1806 1833)
  ("(speed(agent2) 5)" 1833 1836)
  ("(speed(agent2) 4)" 1836 1848)
  ("(speed(agent2) 3)" 1848 1860)
  ("(speed(agent2) 2)" 1860 1881)
  ("(speed(agent2) 1)" 1881 1887)
  ("(speed(agent2) 2)" 1887 1897)
  ("(speed(agent2) 3)" 1897 1908)
  ("(speed(agent2) 4)" 1908 1933)
  ("(speed(agent2) 5)" 1933 1936)
  ("(speed(agent2) 4)" 1936 1948)
  ("(speed(agent2) 3)" 1948 1958)
  ("(speed(agent2) 2)" 1958 1980)
  ("(speed(agent2) 1)" 1980 1993)
  ("(speed(agent2) 2)" 1993 2005)
  ("(speed(agent2) 3)" 2005 2018)
  ("(speed(agent2) 4)" 2018 2038)
  ("(speed(agent2) 5)" 2038 2041)
  ("(speed(agent2) 4)" 2041 2053)
  ("(speed(agent2) 3)" 2053 2058)
  ("(speed(agent2) 2)" 2058 2088)
  ("(speed(agent2) 1)" 2088 2097)
  ("(speed(agent2) 2)" 2097 2107)
  ("(speed(agent2) 3)" 2107 2116)
  ("(speed(agent2) 4)" 2116 2143)
  ("(speed(agent2) 5)" 2143 2147)
  ("(speed(agent2) 4)" 2147 2159)
  ("(speed(agent2) 3)" 2159 2170)
  ("(speed(agent2) 2)" 2170 2192)
  ("(speed(agent2) 1)" 2192 2196)
  ("(speed(agent2) 2)" 2196 2207)
  ("(speed(agent2) 3)" 2207 2215)
  ("(speed(agent2) 4)" 2215 2253)
  ("(speed(agent2) 3)" 2253 2265)
  ("(speed(agent2) 2)" 2265 2278)
  ("(speed(agent2) 1)" 2278 2307)
  ("(speed(agent2) 2)" 2307 2323)
  ("(speed(agent2) 3)" 2323 2339)
  ("(speed(agent2) 4)" 2339 2352)
  ("(speed(agent2) 3)" 2352 2358)
  ("(speed(agent2) 2)" 2358 2364)
  ("(speed(agent2) 1)" 2364 2380)
  ("(speed(agent2) 2)" 2380 2389)
  ("(speed(agent2) 3)" 2389 2391)
  ("(speed(agent2) up)" 314 368)
  ("(speed(agent2) stable)" 368 374)
  ("(speed(agent2) down)" 374 382)
  ("(speed(agent2) up)" 565 589)
  ("(speed(agent2) stable)" 589 595)
  ("(speed(agent2) down)" 595 619)
  ("(speed(agent2) stable)" 619 620)
  ("(speed(agent2) up)" 620 642)
  ("(speed(agent2) down)" 642 692)
  ("(speed(agent2) up)" 692 744)
  ("(speed(agent2) stable)" 744 745)
  ("(speed(agent2) down)" 745 796)
  ("(speed(agent2) up)" 796 847)
  ("(speed(agent2) stable)" 847 848)
  ("(speed(agent2) down)" 848 899)
  ("(speed(agent2) up)" 899 952)
  ("(speed(agent2) stable)" 952 953)
  ("(speed(agent2) down)" 953 1004)
  ("(speed(agent2) stable)" 1004 1005)
  ("(speed(agent2) up)" 1005 1057)
  ("(speed(agent2) stable)" 1057 1058)
  ("(speed(agent2) down)" 1058 1109)
  ("(speed(agent2) up)" 1109 1161)
  ("(speed(agent2) down)" 1161 1212)
  ("(speed(agent2) up)" 1212 1265)
  ("(speed(agent2) down)" 1265 1311)
  ("(speed(agent2) stable)" 1311 1314)
  ("(speed(agent2) up)" 1314 1365)
  ("(speed(agent2) down)" 1365 1416)
  ("(speed(agent2) up)" 1416 1467)
  ("(speed(agent2) stable)" 1467 1468)
  ("(speed(agent2) down)" 1468 1519)
  ("(speed(agent2) up)" 1519 1571)
  ("(speed(agent2) down)" 1571 1623)
  ("(speed(agent2) up)" 1623 1678)
  ("(speed(agent2) down)" 1678 1731)
  ("(speed(agent2) up)" 1731 1783)
  ("(speed(agent2) down)" 1783 1835)
  ("(speed(agent2) up)" 1835 1884)
  ("(speed(agent2) stable)" 1884 1885)
  ("(speed(agent2) down)" 1885 1935)
  ("(speed(agent2) up)" 1935 1988)
  ("(speed(agent2) down)" 1988 2040)
  ("(speed(agent2) up)" 2040 2094)
  ("(speed(agent2) down)" 2094 2146)
  ("(speed(agent2) up)" 2146 2194)
  ("(speed(agent2) stable)" 2194 2195)
  ("(speed(agent2) down)" 2195 2243)
  ("(speed(agent2) up)" 2243 2296)
  ("(speed(agent2) down)" 2296 2346)
  ("(speed(agent2) up)" 2346 2372)
  ("(speed(agent2) stable)" 2372 2373)
  ("(speed(agent2) down)" 2373 2391)
  ("(heading(agent2) 5)" 338 357)
  ("(heading(agent2) 2)" 589 605)
  ("(heading(agent2) 3)" 605 1391)
  ("(heading(agent2) 2)" 1391 1405)
  ("(heading(agent2) 3)" 1405 1677)
  ("(heading(agent2) 2)" 1677 1738)
  ("(heading(agent2) 3)" 1738 1946)
  ("(heading(agent2) 2)" 1946 2101)
  ("(heading(agent2) 3)" 2101 2116)
  ("(heading(agent2) 2)" 2116 2121)
  ("(heading(agent2) 3)" 2121 2366)
  ("(heading(agent2) up)" 339 357)
  ("(heading(agent2) down)" 590 618)
  ("(heading(agent2) stable)" 618 625)
  ("(heading(agent2) up)" 625 638)
  ("(heading(agent2) stable)" 638 1213)
  ("(heading(agent2) up)" 1213 1244)
  ("(heading(agent2) stable)" 1244 1258)
  ("(heading(agent2) up)" 1258 1267)
  ("(heading(agent2) stable)" 1267 1388)
  ("(heading(agent2) up)" 1388 1392)
  ("(heading(agent2) stable)" 1392 1421)
  ("(heading(agent2) down)" 1421 1440)
  ("(heading(agent2) stable)" 1440 1528)
  ("(heading(agent2) down)" 1528 1549)
  ("(heading(agent2) stable)" 1549 1619)
  ("(heading(agent2) up)" 1619 1655)
  ("(heading(agent2) stable)" 1655 1671)
  ("(heading(agent2) up)" 1671 1678)
  ("(heading(agent2) stable)" 1678 1737)
  ("(heading(agent2) down)" 1737 1758)
  ("(heading(agent2) stable)" 1758 1900)
  ("(heading(agent2) up)" 1900 1902)
  ("(heading(agent2) stable)" 1902 1938)
  ("(heading(agent2) up)" 1938 1968)
  ("(heading(agent2) stable)" 1968 2031)
  ("(heading(agent2) down)" 2031 2063)
  ("(heading(agent2) stable)" 2063 2084)
  ("(heading(agent2) down)" 2084 2089)
  ("(heading(agent2) stable)" 2089 2142)
  ("(heading(agent2) down)" 2142 2174)
  ("(heading(agent2) stable)" 2174 2205)
  ("(heading(agent2) down)" 2205 2209)
  ("(heading(agent2) stable)" 2209 2242)
  ("(heading(agent2) up)" 2242 2274)
  ("(heading(agent2) stable)" 2274 2282)
  ("(heading(agent2) down)" 2282 2283)
  ("(heading(agent2) stable)" 2283 2343)
  ("(heading(agent2) down)" 2343 2366)
  ("heard(agent1 agent2)" 2364 2416)
  ("heard(agent1 agent2)" 2248 2318)
  ("heard(agent1 agent2)" 2151 2228)
  ("heard(agent1 agent2)" 2055 2127)
  ("heard(agent1 agent2)" 1942 2014)
  ("heard(agent1 agent2)" 1840 1915)
  ("heard(agent1 agent2)" 1746 1817)
  ("heard(agent1 agent2)" 1636 1705)
  ("heard(agent1 agent2)" 1523 1598)
  ("heard(agent1 agent2)" 1428 1501)
  ("heard(agent1 agent2)" 381 1392)
  ("novel(agent1 agent2)" 2365 2416)
  ("novel(agent1 agent2)" 2249 2328)
  ("novel(agent1 agent2)" 2152 2231)
  ("novel(agent1 agent2)" 2056 2136)
  ("novel(agent1 agent2)" 1943 2024)
  ("novel(agent1 agent2)" 1841 1921)
  ("novel(agent1 agent2)" 1747 1827)
  ("novel(agent1 agent2)" 1637 1717)
  ("novel(agent1 agent2)" 1524 1603)
  ("novel(agent1 agent2)" 1429 1509)
  ("novel(agent1 agent2)" 540 622)
  ("novel(agent1 agent2)" 382 463)
  ("novel(agent1 agent2)" 289 370)
  ("collision(agent1 agent2)" 2388 2390)
  ("collision(agent1 agent2)" 2282 2284)
  ("collision(agent1 agent2)" 2185 2187)
  ("collision(agent1 agent2)" 2085 2087)
  ("collision(agent1 agent2)" 1975 1977)
  ("collision(agent1 agent2)" 1874 1876)
  ("collision(agent1 agent2)" 1775 1778)
  ("collision(agent1 agent2)" 1666 1668)
  ("collision(agent1 agent2)" 1558 1561)
  ("collision(agent1 agent2)" 1459 1462)
  ("collision(agent1 agent2)" 1352 1353)
  ("collision(agent1 agent2)" 1252 1254)
  ("collision(agent1 agent2)" 1151 1154)
  ("collision(agent1 agent2)" 1047 1049)
  ("collision(agent1 agent2)" 940 941)
  ("collision(agent1 agent2)" 837 838)
  ("collision(agent1 agent2)" 735 738)
  ("collision(agent1 agent2)" 628 631)
  ("collision(agent1 agent2)" 542 543)
  ("collision(agent1 agent2)" 478 480)
  ("(distance(agent1 agent2) 1)" 313 381)
  ("(distance(agent1 agent2) 2)" 381 388)
  ("(distance(agent1 agent2) 3)" 388 396)
  ("(distance(agent1 agent2) 4)" 396 465)
  ("(distance(agent1 agent2) 5)" 465 565)
  ("(distance(agent1 agent2) 4)" 565 620)
  ("(distance(agent1 agent2) 5)" 620 640)
  ("(distance(agent1 agent2) 4)" 640 659)
  ("(distance(agent1 agent2) 3)" 659 674)
  ("(distance(agent1 agent2) 2)" 674 700)
  ("(distance(agent1 agent2) 3)" 700 714)
  ("(distance(agent1 agent2) 4)" 714 765)
  ("(distance(agent1 agent2) 3)" 765 785)
  ("(distance(agent1 agent2) 2)" 785 797)
  ("(distance(agent1 agent2) 3)" 797 815)
  ("(distance(agent1 agent2) 4)" 815 840)
  ("(distance(agent1 agent2) 5)" 840 845)
  ("(distance(agent1 agent2) 4)" 845 868)
  ("(distance(agent1 agent2) 3)" 868 887)
  ("(distance(agent1 agent2) 2)" 887 900)
  ("(distance(agent1 agent2) 3)" 900 918)
  ("(distance(agent1 agent2) 4)" 918 943)
  ("(distance(agent1 agent2) 5)" 943 948)
  ("(distance(agent1 agent2) 4)" 948 970)
  ("(distance(agent1 agent2) 3)" 970 984)
  ("(distance(agent1 agent2) 2)" 984 1014)
  ("(distance(agent1 agent2) 3)" 1014 1027)
  ("(distance(agent1 agent2) 4)" 1027 1077)
  ("(distance(agent1 agent2) 3)" 1077 1093)
  ("(distance(agent1 agent2) 2)" 1093 1115)
  ("(distance(agent1 agent2) 3)" 1115 1130)
  ("(distance(agent1 agent2) 4)" 1130 1181)
  ("(distance(agent1 agent2) 3)" 1181 1201)
  ("(distance(agent1 agent2) 2)" 1201 1212)
  ("(distance(agent1 agent2) 3)" 1212 1231)
  ("(distance(agent1 agent2) 4)" 1231 1281)
  ("(distance(agent1 agent2) 3)" 1281 1296)
  ("(distance(agent1 agent2) 2)" 1296 1321)
  ("(distance(agent1 agent2) 3)" 1321 1334)
  ("(distance(agent1 agent2) 4)" 1334 1376)
  ("(distance(agent1 agent2) 3)" 1376 1387)
  ("(distance(agent1 agent2) 2)" 1387 1405)
  ("(distance(agent1 agent2) 1)" 1405 1417)
  ("(distance(agent1 agent2) 2)" 1417 1434)
  ("(distance(agent1 agent2) 3)" 1434 1445)
  ("(distance(agent1 agent2) 4)" 1445 1484)
  ("(distance(agent1 agent2) 3)" 1484 1496)
  ("(distance(agent1 agent2) 2)" 1496 1530)
  ("(distance(agent1 agent2) 3)" 1530 1542)
  ("(distance(agent1 agent2) 4)" 1542 1582)
  ("(distance(agent1 agent2) 3)" 1582 1592)
  ("(distance(agent1 agent2) 2)" 1592 1607)
  ("(distance(agent1 agent2) 1)" 1607 1628)
  ("(distance(agent1 agent2) 2)" 1628 1642)
  ("(distance(agent1 agent2) 3)" 1642 1653)
  ("(distance(agent1 agent2) 4)" 1653 1689)
  ("(distance(agent1 agent2) 3)" 1689 1699)
  ("(distance(agent1 agent2) 2)" 1699 1714)
  ("(distance(agent1 agent2) 1)" 1714 1738)
  ("(distance(agent1 agent2) 2)" 1738 1751)
  ("(distance(agent1 agent2) 3)" 1751 1762)
  ("(distance(agent1 agent2) 4)" 1762 1799)
  ("(distance(agent1 agent2) 3)" 1799 1811)
  ("(distance(agent1 agent2) 2)" 1811 1847)
  ("(distance(agent1 agent2) 3)" 1847 1859)
  ("(distance(agent1 agent2) 4)" 1859 1898)
  ("(distance(agent1 agent2) 3)" 1898 1910)
  ("(distance(agent1 agent2) 2)" 1910 1949)
  ("(distance(agent1 agent2) 3)" 1949 1960)
  ("(distance(agent1 agent2) 4)" 1960 1998)
  ("(distance(agent1 agent2) 3)" 1998 2008)
  ("(distance(agent1 agent2) 2)" 2008 2024)
  ("(distance(agent1 agent2) 1)" 2024 2045)
  ("(distance(agent1 agent2) 2)" 2045 2060)
  ("(distance(agent1 agent2) 3)" 2060 2070)
  ("(distance(agent1 agent2) 4)" 2070 2110)
  ("(distance(agent1 agent2) 3)" 2110 2122)
  ("(distance(agent1 agent2) 2)" 2122 2158)
  ("(distance(agent1 agent2) 3)" 2158 2170)
  ("(distance(agent1 agent2) 4)" 2170 2210)
  ("(distance(agent1 agent2) 3)" 2210 2222)
  ("(distance(agent1 agent2) 2)" 2222 2254)
  ("(distance(agent1 agent2) 3)" 2254 2266)
  ("(distance(agent1 agent2) 4)" 2266 2303)
  ("(distance(agent1 agent2) 3)" 2303 2312)
  ("(distance(agent1 agent2) 2)" 2312 2323)
  ("(distance(agent1 agent2) 1)" 2323 2358)
  ("(distance(agent1 agent2) 2)" 2358 2369)
  ("(distance(agent1 agent2) 3)" 2369 2379)
  ("(distance(agent1 agent2) 4)" 2379 2391)
  ("(distance(agent1 agent2) down)" 314 418)
  ("(distance(agent1 agent2) stable)" 418 419)
  ("(distance(agent1 agent2) up)" 419 442)
  ("(distance(agent1 agent2) stable)" 442 443)
  ("(distance(agent1 agent2) down)" 443 494)
  ("(distance(agent1 agent2) stable)" 494 496)
  ("(distance(agent1 agent2) up)" 496 512)
  ("(distance(agent1 agent2) stable)" 512 514)
  ("(distance(agent1 agent2) down)" 514 531)
  ("(distance(agent1 agent2) stable)" 531 537)
  ("(distance(agent1 agent2) up)" 537 592)
  ("(distance(agent1 agent2) stable)" 592 594)
  ("(distance(agent1 agent2) down)" 594 630)
  ("(distance(agent1 agent2) stable)" 630 632)
  ("(distance(agent1 agent2) up)" 632 687)
  ("(distance(agent1 agent2) stable)" 687 688)
  ("(distance(agent1 agent2) down)" 688 740)
  ("(distance(agent1 agent2) stable)" 740 741)
  ("(distance(agent1 agent2) up)" 741 791)
  ("(distance(agent1 agent2) stable)" 791 792)
  ("(distance(agent1 agent2) down)" 792 842)
  ("(distance(agent1 agent2) stable)" 842 843)
  ("(distance(agent1 agent2) up)" 843 894)
  ("(distance(agent1 agent2) stable)" 894 895)
  ("(distance(agent1 agent2) down)" 895 945)
  ("(distance(agent1 agent2) stable)" 945 946)
  ("(distance(agent1 agent2) up)" 946 999)
  ("(distance(agent1 agent2) stable)" 999 1000)
  ("(distance(agent1 agent2) down)" 1000 1053)
  ("(distance(agent1 agent2) stable)" 1053 1054)
  ("(distance(agent1 agent2) up)" 1054 1104)
  ("(distance(agent1 agent2) stable)" 1104 1105)
  ("(distance(agent1 agent2) down)" 1105 1156)
  ("(distance(agent1 agent2) stable)" 1156 1157)
  ("(distance(agent1 agent2) up)" 1157 1207)
  ("(distance(agent1 agent2) stable)" 1207 1208)
  ("(distance(agent1 agent2) down)" 1208 1257)
  ("(distance(agent1 agent2) stable)" 1257 1258)
  ("(distance(agent1 agent2) up)" 1258 1309)
  ("(distance(agent1 agent2) stable)" 1309 1310)
  ("(distance(agent1 agent2) down)" 1310 1357)
  ("(distance(agent1 agent2) stable)" 1357 1358)
  ("(distance(agent1 agent2) up)" 1358 1411)
  ("(distance(agent1 agent2) stable)" 1411 1412)
  ("(distance(agent1 agent2) down)" 1412 1465)
  ("(distance(agent1 agent2) up)" 1465 1514)
  ("(distance(agent1 agent2) down)" 1514 1563)
  ("(distance(agent1 agent2) stable)" 1563 1564)
  ("(distance(agent1 agent2) up)" 1564 1618)
  ("(distance(agent1 agent2) down)" 1618 1672)
  ("(distance(agent1 agent2) stable)" 1672 1673)
  ("(distance(agent1 agent2) up)" 1673 1726)
  ("(distance(agent1 agent2) stable)" 1726 1727)
  ("(distance(agent1 agent2) down)" 1727 1781)
  ("(distance(agent1 agent2) stable)" 1781 1782)
  ("(distance(agent1 agent2) up)" 1782 1830)
  ("(distance(agent1 agent2) down)" 1830 1879)
  ("(distance(agent1 agent2) stable)" 1879 1880)
  ("(distance(agent1 agent2) up)" 1880 1930)
  ("(distance(agent1 agent2) stable)" 1930 1931)
  ("(distance(agent1 agent2) down)" 1931 1980)
  ("(distance(agent1 agent2) stable)" 1980 1981)
  ("(distance(agent1 agent2) up)" 1981 2035)
  ("(distance(agent1 agent2) stable)" 2035 2036)
  ("(distance(agent1 agent2) down)" 2036 2090)
  ("(distance(agent1 agent2) stable)" 2090 2091)
  ("(distance(agent1 agent2) up)" 2091 2141)
  ("(distance(agent1 agent2) down)" 2141 2190)
  ("(distance(agent1 agent2) stable)" 2190 2191)
  ("(distance(agent1 agent2) up)" 2191 2239)
  ("(distance(agent1 agent2) stable)" 2239 2240)
  ("(distance(agent1 agent2) down)" 2240 2286)
  ("(distance(agent1 agent2) stable)" 2286 2287)
  ("(distance(agent1 agent2) up)" 2287 2341)
  ("(distance(agent1 agent2) stable)" 2341 2342)
  ("(distance(agent1 agent2) down)" 2342 2391)
  ("(relativeX(agent1 agent2) 1)" 313 382)
  ("(relativeX(agent1 agent2) 2)" 564 569)
  ("(relativeX(agent1 agent2) 3)" 569 616)
  ("(relativeX(agent1 agent2) 2)" 616 643)
  ("(relativeX(agent1 agent2) 3)" 643 666)
  ("(relativeX(agent1 agent2) 4)" 666 707)
  ("(relativeX(agent1 agent2) 3)" 707 732)
  ("(relativeX(agent1 agent2) 2)" 732 748)
  ("(relativeX(agent1 agent2) 3)" 748 774)
  ("(relativeX(agent1 agent2) 4)" 774 807)
  ("(relativeX(agent1 agent2) 3)" 807 833)
  ("(relativeX(agent1 agent2) 2)" 833 851)
  ("(relativeX(agent1 agent2) 3)" 851 877)
  ("(relativeX(agent1 agent2) 4)" 877 909)
  ("(relativeX(agent1 agent2) 3)" 909 935)
  ("(relativeX(agent1 agent2) 2)" 935 955)
  ("(relativeX(agent1 agent2) 3)" 955 978)
  ("(relativeX(agent1 agent2) 4)" 978 1019)
  ("(relativeX(agent1 agent2) 3)" 1019 1045)
  ("(relativeX(agent1 agent2) 2)" 1045 1060)
  ("(relativeX(agent1 agent2) 3)" 1060 1086)
  ("(relativeX(agent1 agent2) 4)" 1086 1122)
  ("(relativeX(agent1 agent2) 3)" 1122 1147)
  ("(relativeX(agent1 agent2) 2)" 1147 1165)
  ("(relativeX(agent1 agent2) 3)" 1165 1192)
  ("(relativeX(agent1 agent2) 4)" 1192 1221)
  ("(relativeX(agent1 agent2) 3)" 1221 1248)
  ("(relativeX(agent1 agent2) 2)" 1248 1265)
  ("(relativeX(agent1 agent2) 3)" 1265 1289)
  ("(relativeX(agent1 agent2) 4)" 1289 1326)
  ("(relativeX(agent1 agent2) 3)" 1326 1382)
  ("(relativeX(agent1 agent2) 4)" 1382 1438)
  ("(relativeX(agent1 agent2) 3)" 1438 1490)
  ("(relativeX(agent1 agent2) 4)" 1490 1535)
  ("(relativeX(agent1 agent2) 3)" 1535 1588)
  ("(relativeX(agent1 agent2) 4)" 1588 1646)
  ("(relativeX(agent1 agent2) 3)" 1646 1695)
  ("(relativeX(agent1 agent2) 4)" 1695 1720)
  ("(relativeX(agent1 agent2) 5)" 1720 1732)
  ("(relativeX(agent1 agent2) 4)" 1732 1756)
  ("(relativeX(agent1 agent2) 3)" 1756 1806)
  ("(relativeX(agent1 agent2) 4)" 1806 1852)
  ("(relativeX(agent1 agent2) 3)" 1852 1905)
  ("(relativeX(agent1 agent2) 4)" 1905 1953)
  ("(relativeX(agent1 agent2) 3)" 1953 2004)
  ("(relativeX(agent1 agent2) 4)" 2004 2030)
  ("(relativeX(agent1 agent2) 5)" 2030 2040)
  ("(relativeX(agent1 agent2) 4)" 2040 2064)
  ("(relativeX(agent1 agent2) 3)" 2064 2116)
  ("(relativeX(agent1 agent2) 4)" 2116 2163)
  ("(relativeX(agent1 agent2) 3)" 2163 2217)
  ("(relativeX(agent1 agent2) 4)" 2217 2259)
  ("(relativeX(agent1 agent2) 3)" 2259 2308)
  ("(relativeX(agent1 agent2) 4)" 2308 2327)
  ("(relativeX(agent1 agent2) 5)" 2327 2355)
  ("(relativeX(agent1 agent2) 4)" 2355 2373)
  ("(relativeX(agent1 agent2) 3)" 2373 2391)
  ("(relativeX(agent1 agent2) down)" 314 382)
  ("(relativeX(agent1 agent2) down)" 565 592)
  ("(relativeX(agent1 agent2) stable)" 592 594)
  ("(relativeX(agent1 agent2) up)" 594 630)
  ("(relativeX(agent1 agent2) stable)" 630 632)
  ("(relativeX(agent1 agent2) down)" 632 687)
  ("(relativeX(agent1 agent2) stable)" 687 688)
  ("(relativeX(agent1 agent2) up)" 688 740)
  ("(relativeX(agent1 agent2) stable)" 740 742)
  ("(relativeX(agent1 agent2) down)" 742 791)
  ("(relativeX(agent1 agent2) stable)" 791 792)
  ("(relativeX(agent1 agent2) up)" 792 842)
  ("(relativeX(agent1 agent2) stable)" 842 843)
  ("(relativeX(agent1 agent2) down)" 843 893)
  ("(relativeX(agent1 agent2) stable)" 893 895)
  ("(relativeX(agent1 agent2) up)" 895 945)
  ("(relativeX(agent1 agent2) stable)" 945 947)
  ("(relativeX(agent1 agent2) down)" 947 999)
  ("(relativeX(agent1 agent2) stable)" 999 1001)
  ("(relativeX(agent1 agent2) up)" 1001 1052)
  ("(relativeX(agent1 agent2) stable)" 1052 1054)
  ("(relativeX(agent1 agent2) down)" 1054 1104)
  ("(relativeX(agent1 agent2) stable)" 1104 1105)
  ("(relativeX(agent1 agent2) up)" 1105 1156)
  ("(relativeX(agent1 agent2) stable)" 1156 1158)
  ("(relativeX(agent1 agent2) down)" 1158 1207)
  ("(relativeX(agent1 agent2) stable)" 1207 1208)
  ("(relativeX(agent1 agent2) up)" 1208 1257)
  ("(relativeX(agent1 agent2) stable)" 1257 1258)
  ("(relativeX(agent1 agent2) down)" 1258 1308)
  ("(relativeX(agent1 agent2) stable)" 1308 1310)
  ("(relativeX(agent1 agent2) up)" 1310 1356)
  ("(relativeX(agent1 agent2) stable)" 1356 1358)
  ("(relativeX(agent1 agent2) down)" 1358 1411)
  ("(relativeX(agent1 agent2) stable)" 1411 1412)
  ("(relativeX(agent1 agent2) up)" 1412 1464)
  ("(relativeX(agent1 agent2) stable)" 1464 1466)
  ("(relativeX(agent1 agent2) down)" 1466 1513)
  ("(relativeX(agent1 agent2) stable)" 1513 1515)
  ("(relativeX(agent1 agent2) up)" 1515 1563)
  ("(relativeX(agent1 agent2) stable)" 1563 1564)
  ("(relativeX(agent1 agent2) down)" 1564 1618)
  ("(relativeX(agent1 agent2) stable)" 1618 1619)
  ("(relativeX(agent1 agent2) up)" 1619 1671)
  ("(relativeX(agent1 agent2) stable)" 1671 1673)
  ("(relativeX(agent1 agent2) down)" 1673 1726)
  ("(relativeX(agent1 agent2) stable)" 1726 1727)
  ("(relativeX(agent1 agent2) up)" 1727 1781)
  ("(relativeX(agent1 agent2) stable)" 1781 1782)
  ("(relativeX(agent1 agent2) down)" 1782 1829)
  ("(relativeX(agent1 agent2) stable)" 1829 1831)
  ("(relativeX(agent1 agent2) up)" 1831 1879)
  ("(relativeX(agent1 agent2) stable)" 1879 1880)
  ("(relativeX(agent1 agent2) down)" 1880 1930)
  ("(relativeX(agent1 agent2) stable)" 1930 1931)
  ("(relativeX(agent1 agent2) up)" 1931 1980)
  ("(relativeX(agent1 agent2) stable)" 1980 1981)
  ("(relativeX(agent1 agent2) down)" 1981 2035)
  ("(relativeX(agent1 agent2) stable)" 2035 2036)
  ("(relativeX(agent1 agent2) up)" 2036 2090)
  ("(relativeX(agent1 agent2) stable)" 2090 2091)
  ("(relativeX(agent1 agent2) down)" 2091 2140)
  ("(relativeX(agent1 agent2) stable)" 2140 2142)
  ("(relativeX(agent1 agent2) up)" 2142 2190)
  ("(relativeX(agent1 agent2) stable)" 2190 2191)
  ("(relativeX(agent1 agent2) down)" 2191 2239)
  ("(relativeX(agent1 agent2) stable)" 2239 2240)
  ("(relativeX(agent1 agent2) up)" 2240 2286)
  ("(relativeX(agent1 agent2) stable)" 2286 2287)
  ("(relativeX(agent1 agent2) down)" 2287 2341)
  ("(relativeX(agent1 agent2) stable)" 2341 2342)
  ("(relativeX(agent1 agent2) up)" 2342 2391)
  ("(relativeY(agent1 agent2) 5)" 313 346)
  ("(relativeY(agent1 agent2) 4)" 346 351)
  ("(relativeY(agent1 agent2) 3)" 351 357)
  ("(relativeY(agent1 agent2) 2)" 357 365)
  ("(relativeY(agent1 agent2) 1)" 365 382)
  ("(relativeY(agent1 agent2) 5)" 564 578)
  ("(relativeY(agent1 agent2) 4)" 578 604)
  ("(relativeY(agent1 agent2) 5)" 604 653)
  ("(relativeY(agent1 agent2) 4)" 653 663)
  ("(relativeY(agent1 agent2) 3)" 663 675)
  ("(relativeY(agent1 agent2) 2)" 675 701)
  ("(relativeY(agent1 agent2) 3)" 701 711)
  ("(relativeY(agent1 agent2) 4)" 711 723)
  ("(relativeY(agent1 agent2) 5)" 723 755)
  ("(relativeY(agent1 agent2) 4)" 755 766)
  ("(relativeY(agent1 agent2) 3)" 766 776)
  ("(relativeY(agent1 agent2) 2)" 776 805)
  ("(relativeY(agent1 agent2) 3)" 805 815)
  ("(relativeY(agent1 agent2) 4)" 815 827)
  ("(relativeY(agent1 agent2) 5)" 827 855)
  ("(relativeY(agent1 agent2) 4)" 855 866)
  ("(relativeY(agent1 agent2) 3)" 866 875)
  ("(relativeY(agent1 agent2) 2)" 875 912)
  ("(relativeY(agent1 agent2) 3)" 912 921)
  ("(relativeY(agent1 agent2) 4)" 921 933)
  ("(relativeY(agent1 agent2) 5)" 933 955)
  ("(relativeY(agent1 agent2) 4)" 955 966)
  ("(relativeY(agent1 agent2) 3)" 966 974)
  ("(relativeY(agent1 agent2) 2)" 974 984)
  ("(relativeY(agent1 agent2) 1)" 984 1014)
  ("(relativeY(agent1 agent2) 2)" 1014 1023)
  ("(relativeY(agent1 agent2) 3)" 1023 1031)
  ("(relativeY(agent1 agent2) 4)" 1031 1044)
  ("(relativeY(agent1 agent2) 5)" 1044 1060)
  ("(relativeY(agent1 agent2) 4)" 1060 1072)
  ("(relativeY(agent1 agent2) 3)" 1072 1080)
  ("(relativeY(agent1 agent2) 2)" 1080 1091)
  ("(relativeY(agent1 agent2) 1)" 1091 1118)
  ("(relativeY(agent1 agent2) 2)" 1118 1128)
  ("(relativeY(agent1 agent2) 3)" 1128 1135)
  ("(relativeY(agent1 agent2) 4)" 1135 1149)
  ("(relativeY(agent1 agent2) 5)" 1149 1163)
  ("(relativeY(agent1 agent2) 4)" 1163 1176)
  ("(relativeY(agent1 agent2) 3)" 1176 1184)
  ("(relativeY(agent1 agent2) 2)" 1184 1195)
  ("(relativeY(agent1 agent2) 1)" 1195 1218)
  ("(relativeY(agent1 agent2) 2)" 1218 1228)
  ("(relativeY(agent1 agent2) 3)" 1228 1236)
  ("(relativeY(agent1 agent2) 4)" 1236 1250)
  ("(relativeY(agent1 agent2) 5)" 1250 1267)
  ("(relativeY(agent1 agent2) 4)" 1267 1278)
  ("(relativeY(agent1 agent2) 3)" 1278 1286)
  ("(relativeY(agent1 agent2) 2)" 1286 1299)
  ("(relativeY(agent1 agent2) 1)" 1299 1317)
  ("(relativeY(agent1 agent2) 2)" 1317 1328)
  ("(relativeY(agent1 agent2) 3)" 1328 1336)
  ("(relativeY(agent1 agent2) 4)" 1336 1349)
  ("(relativeY(agent1 agent2) 5)" 1349 1366)
  ("(relativeY(agent1 agent2) 4)" 1366 1377)
  ("(relativeY(agent1 agent2) 3)" 1377 1384)
  ("(relativeY(agent1 agent2) 2)" 1384 1393)
  ("(relativeY(agent1 agent2) 1)" 1393 1428)
  ("(relativeY(agent1 agent2) 2)" 1428 1436)
  ("(relativeY(agent1 agent2) 3)" 1436 1444)
  ("(relativeY(agent1 agent2) 4)" 1444 1456)
  ("(relativeY(agent1 agent2) 5)" 1456 1472)
  ("(relativeY(agent1 agent2) 4)" 1472 1483)
  ("(relativeY(agent1 agent2) 3)" 1483 1490)
  ("(relativeY(agent1 agent2) 2)" 1490 1500)
  ("(relativeY(agent1 agent2) 1)" 1500 1527)
  ("(relativeY(agent1 agent2) 2)" 1527 1536)
  ("(relativeY(agent1 agent2) 3)" 1536 1544)
  ("(relativeY(agent1 agent2) 4)" 1544 1579)
  ("(relativeY(agent1 agent2) 3)" 1579 1585)
  ("(relativeY(agent1 agent2) 2)" 1585 1592)
  ("(relativeY(agent1 agent2) 1)" 1592 1640)
  ("(relativeY(agent1 agent2) 2)" 1640 1647)
  ("(relativeY(agent1 agent2) 3)" 1647 1654)
  ("(relativeY(agent1 agent2) 4)" 1654 1666)
  ("(relativeY(agent1 agent2) 5)" 1666 1680)
  ("(relativeY(agent1 agent2) 4)" 1680 1691)
  ("(relativeY(agent1 agent2) 3)" 1691 1698)
  ("(relativeY(agent1 agent2) 2)" 1698 1707)
  ("(relativeY(agent1 agent2) 1)" 1707 1744)
  ("(relativeY(agent1 agent2) 2)" 1744 1752)
  ("(relativeY(agent1 agent2) 3)" 1752 1759)
  ("(relativeY(agent1 agent2) 4)" 1759 1771)
  ("(relativeY(agent1 agent2) 5)" 1771 1790)
  ("(relativeY(agent1 agent2) 4)" 1790 1801)
  ("(relativeY(agent1 agent2) 3)" 1801 1809)
  ("(relativeY(agent1 agent2) 2)" 1809 1822)
  ("(relativeY(agent1 agent2) 1)" 1822 1837)
  ("(relativeY(agent1 agent2) 2)" 1837 1849)
  ("(relativeY(agent1 agent2) 3)" 1849 1857)
  ("(relativeY(agent1 agent2) 4)" 1857 1869)
  ("(relativeY(agent1 agent2) 5)" 1869 1890)
  ("(relativeY(agent1 agent2) 4)" 1890 1901)
  ("(relativeY(agent1 agent2) 3)" 1901 1909)
  ("(relativeY(agent1 agent2) 2)" 1909 1924)
  ("(relativeY(agent1 agent2) 1)" 1924 1934)
  ("(relativeY(agent1 agent2) 2)" 1934 1949)
  ("(relativeY(agent1 agent2) 3)" 1949 1956)
  ("(relativeY(agent1 agent2) 4)" 1956 1967)
  ("(relativeY(agent1 agent2) 5)" 1967 1994)
  ("(relativeY(agent1 agent2) 4)" 1994 2004)
  ("(relativeY(agent1 agent2) 3)" 2004 2012)
  ("(relativeY(agent1 agent2) 2)" 2012 2025)
  ("(relativeY(agent1 agent2) 1)" 2025 2045)
  ("(relativeY(agent1 agent2) 2)" 2045 2057)
  ("(relativeY(agent1 agent2) 3)" 2057 2064)
  ("(relativeY(agent1 agent2) 4)" 2064 2074)
  ("(relativeY(agent1 agent2) 5)" 2074 2104)
  ("(relativeY(agent1 agent2) 4)" 2104 2113)
  ("(relativeY(agent1 agent2) 3)" 2113 2121)
  ("(relativeY(agent1 agent2) 2)" 2121 2135)
  ("(relativeY(agent1 agent2) 1)" 2135 2147)
  ("(relativeY(agent1 agent2) 2)" 2147 2160)
  ("(relativeY(agent1 agent2) 3)" 2160 2168)
  ("(relativeY(agent1 agent2) 4)" 2168 2183)
  ("(relativeY(agent1 agent2) 5)" 2183 2193)
  ("(relativeY(agent1 agent2) 4)" 2193 2206)
  ("(relativeY(agent1 agent2) 3)" 2206 2213)
  ("(relativeY(agent1 agent2) 2)" 2213 2221)
  ("(relativeY(agent1 agent2) 1)" 2221 2255)
  ("(relativeY(agent1 agent2) 2)" 2255 2263)
  ("(relativeY(agent1 agent2) 3)" 2263 2271)
  ("(relativeY(agent1 agent2) 4)" 2271 2300)
  ("(relativeY(agent1 agent2) 3)" 2300 2306)
  ("(relativeY(agent1 agent2) 2)" 2306 2312)
  ("(relativeY(agent1 agent2) 1)" 2312 2369)
  ("(relativeY(agent1 agent2) 2)" 2369 2376)
  ("(relativeY(agent1 agent2) 3)" 2376 2383)
  ("(relativeY(agent1 agent2) 4)" 2383 2391)
  ("(relativeY(agent1 agent2) up)" 314 380)
  ("(relativeY(agent1 agent2) down)" 380 382)
  ("(relativeY(agent1 agent2) up)" 565 592)
  ("(relativeY(agent1 agent2) down)" 592 632)
  ("(relativeY(agent1 agent2) up)" 632 688)
  ("(relativeY(agent1 agent2) stable)" 688 689)
  ("(relativeY(agent1 agent2) down)" 689 739)
  ("(relativeY(agent1 agent2) stable)" 739 740)
  ("(relativeY(agent1 agent2) up)" 740 791)
  ("(relativeY(agent1 agent2) stable)" 791 792)
  ("(relativeY(agent1 agent2) down)" 792 842)
  ("(relativeY(agent1 agent2) up)" 842 894)
  ("(relativeY(agent1 agent2) stable)" 894 895)
  ("(relativeY(agent1 agent2) down)" 895 945)
  ("(relativeY(agent1 agent2) up)" 945 999)
  ("(relativeY(agent1 agent2) stable)" 999 1000)
  ("(relativeY(agent1 agent2) down)" 1000 1053)
  ("(relativeY(agent1 agent2) up)" 1053 1105)
  ("(relativeY(agent1 agent2) down)" 1105 1156)
  ("(relativeY(agent1 agent2) stable)" 1156 1157)
  ("(relativeY(agent1 agent2) up)" 1157 1207)
  ("(relativeY(agent1 agent2) stable)" 1207 1208)
  ("(relativeY(agent1 agent2) down)" 1208 1259)
  ("(relativeY(agent1 agent2) up)" 1259 1309)
  ("(relativeY(agent1 agent2) down)" 1309 1358)
  ("(relativeY(agent1 agent2) stable)" 1358 1359)
  ("(relativeY(agent1 agent2) up)" 1359 1411)
  ("(relativeY(agent1 agent2) stable)" 1411 1412)
  ("(relativeY(agent1 agent2) down)" 1412 1464)
  ("(relativeY(agent1 agent2) up)" 1464 1514)
  ("(relativeY(agent1 agent2) stable)" 1514 1515)
  ("(relativeY(agent1 agent2) down)" 1515 1563)
  ("(relativeY(agent1 agent2) up)" 1563 1617)
  ("(relativeY(agent1 agent2) stable)" 1617 1618)
  ("(relativeY(agent1 agent2) down)" 1618 1674)
  ("(relativeY(agent1 agent2) up)" 1674 1726)
  ("(relativeY(agent1 agent2) stable)" 1726 1727)
  ("(relativeY(agent1 agent2) down)" 1727 1780)
  ("(relativeY(agent1 agent2) stable)" 1780 1781)
  ("(relativeY(agent1 agent2) up)" 1781 1830)
  ("(relativeY(agent1 agent2) down)" 1830 1880)
  ("(relativeY(agent1 agent2) up)" 1880 1930)
  ("(relativeY(agent1 agent2) down)" 1930 1981)
  ("(relativeY(agent1 agent2) stable)" 1981 1982)
  ("(relativeY(agent1 agent2) up)" 1982 2035)
  ("(relativeY(agent1 agent2) stable)" 2035 2036)
  ("(relativeY(agent1 agent2) down)" 2036 2089)
  ("(relativeY(agent1 agent2) stable)" 2089 2090)
  ("(relativeY(agent1 agent2) up)" 2090 2141)
  ("(relativeY(agent1 agent2) stable)" 2141 2142)
  ("(relativeY(agent1 agent2) down)" 2142 2188)
  ("(relativeY(agent1 agent2) stable)" 2188 2189)
  ("(relativeY(agent1 agent2) up)" 2189 2239)
  ("(relativeY(agent1 agent2) stable)" 2239 2240)
  ("(relativeY(agent1 agent2) down)" 2240 2287)
  ("(relativeY(agent1 agent2) up)" 2287 2342)
  ("(relativeY(agent1 agent2) down)" 2342 2391)
  ("(x(wall2) 3)" 25 244)
  ("(x(wall2) 3)" 496 2391)
  ("(x(wall2) stable)" 26 244)
  ("(x(wall2) stable)" 497 2391)
  ("(y(wall2) 3)" 25 244)
  ("(y(wall2) 3)" 496 2391)
  ("(y(wall2) stable)" 26 244)
  ("(y(wall2) stable)" 497 2391)
  ("(speed(wall2) 3)" 25 244)
  ("(speed(wall2) 3)" 496 2391)
  ("(speed(wall2) stable)" 26 244)
  ("(speed(wall2) stable)" 497 2391)
  ("(heading(wall2) 3)" 50 219)
  ("(heading(wall2) 3)" 521 2366)
  ("(heading(wall2) stable)" 51 219)
  ("(heading(wall2) stable)" 522 2366)
  ("novel(agent1 wall2)" 472 554)
  ("(distance(agent1 wall2) 5)" 25 244)
  ("(distance(agent1 wall2) 2)" 496 611)
  ("(distance(agent1 wall2) 3)" 611 651)
  ("(distance(agent1 wall2) 2)" 651 720)
  ("(distance(agent1 wall2) 3)" 720 761)
  ("(distance(agent1 wall2) 2)" 761 819)
  ("(distance(agent1 wall2) 3)" 819 864)
  ("(distance(agent1 wall2) 2)" 864 922)
  ("(distance(agent1 wall2) 3)" 922 966)
  ("(distance(agent1 wall2) 2)" 966 1032)
  ("(distance(agent1 wall2) 3)" 1032 1072)
  ("(distance(agent1 wall2) 2)" 1072 1136)
  ("(distance(agent1 wall2) 3)" 1136 1176)
  ("(distance(agent1 wall2) 2)" 1176 1237)
  ("(distance(agent1 wall2) 3)" 1237 1275)
  ("(distance(agent1 wall2) 2)" 1275 1342)
  ("(distance(agent1 wall2) 3)" 1342 1370)
  ("(distance(agent1 wall2) 2)" 1370 1452)
  ("(distance(agent1 wall2) 3)" 1452 1478)
  ("(distance(agent1 wall2) 2)" 1478 1548)
  ("(distance(agent1 wall2) 3)" 1548 1577)
  ("(distance(agent1 wall2) 2)" 1577 1658)
  ("(distance(agent1 wall2) 3)" 1658 1684)
  ("(distance(agent1 wall2) 2)" 1684 1766)
  ("(distance(agent1 wall2) 3)" 1766 1796)
  ("(distance(agent1 wall2) 2)" 1796 1862)
  ("(distance(agent1 wall2) 3)" 1862 1895)
  ("(distance(agent1 wall2) 2)" 1895 1963)
  ("(distance(agent1 wall2) 3)" 1963 1996)
  ("(distance(agent1 wall2) 2)" 1996 2071)
  ("(distance(agent1 wall2) 3)" 2071 2109)
  ("(distance(agent1 wall2) 2)" 2109 2171)
  ("(distance(agent1 wall2) 3)" 2171 2209)
  ("(distance(agent1 wall2) 2)" 2209 2267)
  ("(distance(agent1 wall2) 3)" 2267 2302)
  ("(distance(agent1 wall2) 2)" 2302 2382)
  ("(distance(agent1 wall2) 3)" 2382 2391)
  ("(distance(agent1 wall2) up)" 26 29)
  ("(distance(agent1 wall2) stable)" 29 44)
  ("(distance(agent1 wall2) down)" 44 150)
  ("(distance(agent1 wall2) stable)" 150 173)
  ("(distance(agent1 wall2) up)" 173 244)
  ("(distance(agent1 wall2) down)" 497 546)
  ("(distance(agent1 wall2) stable)" 546 555)
  ("(distance(agent1 wall2) up)" 555 585)
  ("(distance(agent1 wall2) stable)" 585 591)
  ("(distance(agent1 wall2) down)" 591 631)
  ("(distance(agent1 wall2) stable)" 631 635)
  ("(distance(agent1 wall2) up)" 635 685)
  ("(distance(agent1 wall2) stable)" 685 689)
  ("(distance(agent1 wall2) down)" 689 739)
  ("(distance(agent1 wall2) stable)" 739 743)
  ("(distance(agent1 wall2) up)" 743 789)
  ("(distance(agent1 wall2) stable)" 789 793)
  ("(distance(agent1 wall2) down)" 793 841)
  ("(distance(agent1 wall2) stable)" 841 845)
  ("(distance(agent1 wall2) up)" 845 892)
  ("(distance(agent1 wall2) stable)" 892 896)
  ("(distance(agent1 wall2) down)" 896 944)
  ("(distance(agent1 wall2) stable)" 944 948)
  ("(distance(agent1 wall2) up)" 948 998)
  ("(distance(agent1 wall2) stable)" 998 1002)
  ("(distance(agent1 wall2) down)" 1002 1051)
  ("(distance(agent1 wall2) stable)" 1051 1055)
  ("(distance(agent1 wall2) up)" 1055 1103)
  ("(distance(agent1 wall2) stable)" 1103 1107)
  ("(distance(agent1 wall2) down)" 1107 1155)
  ("(distance(agent1 wall2) stable)" 1155 1159)
  ("(distance(agent1 wall2) up)" 1159 1206)
  ("(distance(agent1 wall2) stable)" 1206 1209)
  ("(distance(agent1 wall2) down)" 1209 1256)
  ("(distance(agent1 wall2) stable)" 1256 1259)
  ("(distance(agent1 wall2) up)" 1259 1308)
  ("(distance(agent1 wall2) stable)" 1308 1311)
  ("(distance(agent1 wall2) down)" 1311 1355)
  ("(distance(agent1 wall2) stable)" 1355 1359)
  ("(distance(agent1 wall2) up)" 1359 1410)
  ("(distance(agent1 wall2) stable)" 1410 1413)
  ("(distance(agent1 wall2) down)" 1413 1464)
  ("(distance(agent1 wall2) stable)" 1464 1467)
  ("(distance(agent1 wall2) up)" 1467 1512)
  ("(distance(agent1 wall2) stable)" 1512 1516)
  ("(distance(agent1 wall2) down)" 1516 1562)
  ("(distance(agent1 wall2) stable)" 1562 1565)
  ("(distance(agent1 wall2) up)" 1565 1617)
  ("(distance(agent1 wall2) stable)" 1617 1620)
  ("(distance(agent1 wall2) down)" 1620 1671)
  ("(distance(agent1 wall2) stable)" 1671 1674)
  ("(distance(agent1 wall2) up)" 1674 1725)
  ("(distance(agent1 wall2) stable)" 1725 1728)
  ("(distance(agent1 wall2) down)" 1728 1780)
  ("(distance(agent1 wall2) stable)" 1780 1783)
  ("(distance(agent1 wall2) up)" 1783 1828)
  ("(distance(agent1 wall2) stable)" 1828 1831)
  ("(distance(agent1 wall2) down)" 1831 1878)
  ("(distance(agent1 wall2) stable)" 1878 1881)
  ("(distance(agent1 wall2) up)" 1881 1929)
  ("(distance(agent1 wall2) stable)" 1929 1932)
  ("(distance(agent1 wall2) down)" 1932 1979)
  ("(distance(agent1 wall2) stable)" 1979 1982)
  ("(distance(agent1 wall2) up)" 1982 2034)
  ("(distance(agent1 wall2) stable)" 2034 2036)
  ("(distance(agent1 wall2) down)" 2036 2090)
  ("(distance(agent1 wall2) stable)" 2090 2092)
  ("(distance(agent1 wall2) up)" 2092 2139)
  ("(distance(agent1 wall2) stable)" 2139 2142)
  ("(distance(agent1 wall2) down)" 2142 2189)
  ("(distance(agent1 wall2) stable)" 2189 2192)
  ("(distance(agent1 wall2) up)" 2192 2238)
  ("(distance(agent1 wall2) stable)" 2238 2241)
  ("(distance(agent1 wall2) down)" 2241 2285)
  ("(distance(agent1 wall2) stable)" 2285 2288)
  ("(distance(agent1 wall2) up)" 2288 2341)
  ("(distance(agent1 wall2) stable)" 2341 2343)
  ("(distance(agent1 wall2) down)" 2343 2391)
  ("(relativeX(agent1 wall2) 1)" 25 244)
  ("(relativeX(agent1 wall2) 4)" 496 611)
  ("(relativeX(agent1 wall2) 3)" 611 651)
  ("(relativeX(agent1 wall2) 4)" 651 720)
  ("(relativeX(agent1 wall2) 3)" 720 761)
  ("(relativeX(agent1 wall2) 4)" 761 819)
  ("(relativeX(agent1 wall2) 3)" 819 864)
  ("(relativeX(agent1 wall2) 4)" 864 922)
  ("(relativeX(agent1 wall2) 3)" 922 966)
  ("(relativeX(agent1 wall2) 4)" 966 1032)
  ("(relativeX(agent1 wall2) 3)" 1032 1072)
  ("(relativeX(agent1 wall2) 4)" 1072 1136)
  ("(relativeX(agent1 wall2) 3)" 1136 1176)
  ("(relativeX(agent1 wall2) 4)" 1176 1237)
  ("(relativeX(agent1 wall2) 3)" 1237 1275)
  ("(relativeX(agent1 wall2) 4)" 1275 1342)
  ("(relativeX(agent1 wall2) 3)" 1342 1370)
  ("(relativeX(agent1 wall2) 4)" 1370 1452)
  ("(relativeX(agent1 wall2) 3)" 1452 1478)
  ("(relativeX(agent1 wall2) 4)" 1478 1548)
  ("(relativeX(agent1 wall2) 3)" 1548 1577)
  ("(relativeX(agent1 wall2) 4)" 1577 1658)
  ("(relativeX(agent1 wall2) 3)" 1658 1684)
  ("(relativeX(agent1 wall2) 4)" 1684 1766)
  ("(relativeX(agent1 wall2) 3)" 1766 1796)
  ("(relativeX(agent1 wall2) 4)" 1796 1862)
  ("(relativeX(agent1 wall2) 3)" 1862 1895)
  ("(relativeX(agent1 wall2) 4)" 1895 1963)
  ("(relativeX(agent1 wall2) 3)" 1963 1996)
  ("(relativeX(agent1 wall2) 4)" 1996 2071)
  ("(relativeX(agent1 wall2) 3)" 2071 2109)
  ("(relativeX(agent1 wall2) 4)" 2109 2171)
  ("(relativeX(agent1 wall2) 3)" 2171 2209)
  ("(relativeX(agent1 wall2) 4)" 2209 2267)
  ("(relativeX(agent1 wall2) 3)" 2267 2302)
  ("(relativeX(agent1 wall2) 4)" 2302 2382)
  ("(relativeX(agent1 wall2) 3)" 2382 2391)
  ("(relativeX(agent1 wall2) down)" 26 29)
  ("(relativeX(agent1 wall2) stable)" 29 44)
  ("(relativeX(agent1 wall2) up)" 44 150)
  ("(relativeX(agent1 wall2) stable)" 150 173)
  ("(relativeX(agent1 wall2) down)" 173 244)
  ("(relativeX(agent1 wall2) up)" 497 546)
  ("(relativeX(agent1 wall2) stable)" 546 555)
  ("(relativeX(agent1 wall2) down)" 555 585)
  ("(relativeX(agent1 wall2) stable)" 585 591)
  ("(relativeX(agent1 wall2) up)" 591 631)
  ("(relativeX(agent1 wall2) stable)" 631 635)
  ("(relativeX(agent1 wall2) down)" 635 685)
  ("(relativeX(agent1 wall2) stable)" 685 689)
  ("(relativeX(agent1 wall2) up)" 689 739)
  ("(relativeX(agent1 wall2) stable)" 739 743)
  ("(relativeX(agent1 wall2) down)" 743 789)
  ("(relativeX(agent1 wall2) stable)" 789 793)
  ("(relativeX(agent1 wall2) up)" 793 841)
  ("(relativeX(agent1 wall2) stable)" 841 845)
  ("(relativeX(agent1 wall2) down)" 845 892)
  ("(relativeX(agent1 wall2) stable)" 892 896)
  ("(relativeX(agent1 wall2) up)" 896 944)
  ("(relativeX(agent1 wall2) stable)" 944 948)
  ("(relativeX(agent1 wall2) down)" 948 998)
  ("(relativeX(agent1 wall2) stable)" 998 1002)
  ("(relativeX(agent1 wall2) up)" 1002 1051)
  ("(relativeX(agent1 wall2) stable)" 1051 1055)
  ("(relativeX(agent1 wall2) down)" 1055 1103)
  ("(relativeX(agent1 wall2) stable)" 1103 1107)
  ("(relativeX(agent1 wall2) up)" 1107 1155)
  ("(relativeX(agent1 wall2) stable)" 1155 1159)
  ("(relativeX(agent1 wall2) down)" 1159 1206)
  ("(relativeX(agent1 wall2) stable)" 1206 1209)
  ("(relativeX(agent1 wall2) up)" 1209 1256)
  ("(relativeX(agent1 wall2) stable)" 1256 1259)
  ("(relativeX(agent1 wall2) down)" 1259 1308)
  ("(relativeX(agent1 wall2) stable)" 1308 1311)
  ("(relativeX(agent1 wall2) up)" 1311 1355)
  ("(relativeX(agent1 wall2) stable)" 1355 1359)
  ("(relativeX(agent1 wall2) down)" 1359 1410)
  ("(relativeX(agent1 wall2) stable)" 1410 1413)
  ("(relativeX(agent1 wall2) up)" 1413 1464)
  ("(relativeX(agent1 wall2) stable)" 1464 1467)
  ("(relativeX(agent1 wall2) down)" 1467 1512)
  ("(relativeX(agent1 wall2) stable)" 1512 1516)
  ("(relativeX(agent1 wall2) up)" 1516 1562)
  ("(relativeX(agent1 wall2) stable)" 1562 1565)
  ("(relativeX(agent1 wall2) down)" 1565 1617)
  ("(relativeX(agent1 wall2) stable)" 1617 1620)
  ("(relativeX(agent1 wall2) up)" 1620 1671)
  ("(relativeX(agent1 wall2) stable)" 1671 1674)
  ("(relativeX(agent1 wall2) down)" 1674 1725)
  ("(relativeX(agent1 wall2) stable)" 1725 1728)
  ("(relativeX(agent1 wall2) up)" 1728 1780)
  ("(relativeX(agent1 wall2) stable)" 1780 1783)
  ("(relativeX(agent1 wall2) down)" 1783 1828)
  ("(relativeX(agent1 wall2) stable)" 1828 1831)
  ("(relativeX(agent1 wall2) up)" 1831 1878)
  ("(relativeX(agent1 wall2) stable)" 1878 1881)
  ("(relativeX(agent1 wall2) down)" 1881 1929)
  ("(relativeX(agent1 wall2) stable)" 1929 1932)
  ("(relativeX(agent1 wall2) up)" 1932 1979)
  ("(relativeX(agent1 wall2) stable)" 1979 1982)
  ("(relativeX(agent1 wall2) down)" 1982 2034)
  ("(relativeX(agent1 wall2) stable)" 2034 2036)
  ("(relativeX(agent1 wall2) up)" 2036 2090)
  ("(relativeX(agent1 wall2) stable)" 2090 2092)
  ("(relativeX(agent1 wall2) down)" 2092 2139)
  ("(relativeX(agent1 wall2) stable)" 2139 2142)
  ("(relativeX(agent1 wall2) up)" 2142 2189)
  ("(relativeX(agent1 wall2) stable)" 2189 2192)
  ("(relativeX(agent1 wall2) down)" 2192 2238)
  ("(relativeX(agent1 wall2) stable)" 2238 2241)
  ("(relativeX(agent1 wall2) up)" 2241 2285)
  ("(relativeX(agent1 wall2) stable)" 2285 2288)
  ("(relativeX(agent1 wall2) down)" 2288 2341)
  ("(relativeX(agent1 wall2) stable)" 2341 2343)
  ("(relativeX(agent1 wall2) up)" 2343 2391)
  ("(relativeY(agent1 wall2) 5)" 25 244)
  ("(relativeY(agent1 wall2) 4)" 496 535)
  ("(relativeY(agent1 wall2) 3)" 535 643)
  ("(relativeY(agent1 wall2) 2)" 643 2391)
  ("(relativeY(agent1 wall2) up)" 26 244)
  ("(relativeY(agent1 wall2) up)" 497 686)
  ("(relativeY(agent1 wall2) stable)" 686 751)
  ("(relativeY(agent1 wall2) up)" 751 777)
  ("(relativeY(agent1 wall2) stable)" 777 808)
  ("(relativeY(agent1 wall2) down)" 808 822)
  ("(relativeY(agent1 wall2) stable)" 822 857)
  ("(relativeY(agent1 wall2) up)" 857 876)
  ("(relativeY(agent1 wall2) stable)" 876 908)
  ("(relativeY(agent1 wall2) down)" 908 929)
  ("(relativeY(agent1 wall2) stable)" 929 959)
  ("(relativeY(agent1 wall2) up)" 959 982)
  ("(relativeY(agent1 wall2) stable)" 982 1012)
  ("(relativeY(agent1 wall2) down)" 1012 1040)
  ("(relativeY(agent1 wall2) stable)" 1040 1068)
  ("(relativeY(agent1 wall2) up)" 1068 1086)
  ("(relativeY(agent1 wall2) stable)" 1086 1116)
  ("(relativeY(agent1 wall2) down)" 1116 1144)
  ("(relativeY(agent1 wall2) stable)" 1144 1173)
  ("(relativeY(agent1 wall2) up)" 1173 1188)
  ("(relativeY(agent1 wall2) stable)" 1188 1218)
  ("(relativeY(agent1 wall2) down)" 1218 1245)
  ("(relativeY(agent1 wall2) stable)" 1245 1273)
  ("(relativeY(agent1 wall2) up)" 1273 1293)
  ("(relativeY(agent1 wall2) stable)" 1293 1320)
  ("(relativeY(agent1 wall2) down)" 1320 1344)
  ("(relativeY(agent1 wall2) stable)" 1344 1369)
  ("(relativeY(agent1 wall2) up)" 1369 1399)
  ("(relativeY(agent1 wall2) stable)" 1399 1425)
  ("(relativeY(agent1 wall2) down)" 1425 1451)
  ("(relativeY(agent1 wall2) stable)" 1451 1477)
  ("(relativeY(agent1 wall2) up)" 1477 1501)
  ("(relativeY(agent1 wall2) stable)" 1501 1525)
  ("(relativeY(agent1 wall2) down)" 1525 1550)
  ("(relativeY(agent1 wall2) stable)" 1550 1573)
  ("(relativeY(agent1 wall2) up)" 1573 1607)
  ("(relativeY(agent1 wall2) stable)" 1607 1629)
  ("(relativeY(agent1 wall2) down)" 1629 1661)
  ("(relativeY(agent1 wall2) stable)" 1661 1683)
  ("(relativeY(agent1 wall2) up)" 1683 1715)
  ("(relativeY(agent1 wall2) stable)" 1715 1741)
  ("(relativeY(agent1 wall2) down)" 1741 1766)
  ("(relativeY(agent1 wall2) stable)" 1766 1792)
  ("(relativeY(agent1 wall2) up)" 1792 1818)
  ("(relativeY(agent1 wall2) stable)" 1818 1844)
  ("(relativeY(agent1 wall2) down)" 1844 1863)
  ("(relativeY(agent1 wall2) stable)" 1863 1891)
  ("(relativeY(agent1 wall2) up)" 1891 1919)
  ("(relativeY(agent1 wall2) stable)" 1919 1945)
  ("(relativeY(agent1 wall2) down)" 1945 1964)
  ("(relativeY(agent1 wall2) stable)" 1964 1992)
  ("(relativeY(agent1 wall2) up)" 1992 2024)
  ("(relativeY(agent1 wall2) stable)" 2024 2052)
  ("(relativeY(agent1 wall2) down)" 2052 2073)
  ("(relativeY(agent1 wall2) stable)" 2073 2102)
  ("(relativeY(agent1 wall2) up)" 2102 2128)
  ("(relativeY(agent1 wall2) stable)" 2128 2154)
  ("(relativeY(agent1 wall2) down)" 2154 2174)
  ("(relativeY(agent1 wall2) stable)" 2174 2202)
  ("(relativeY(agent1 wall2) up)" 2202 2226)
  ("(relativeY(agent1 wall2) stable)" 2226 2248)
  ("(relativeY(agent1 wall2) down)" 2248 2277)
  ("(relativeY(agent1 wall2) stable)" 2277 2297)
  ("(relativeY(agent1 wall2) up)" 2297 2330)
  ("(relativeY(agent1 wall2) stable)" 2330 2349)
  ("(relativeY(agent1 wall2) down)" 2349 2385)
  ("(relativeY(agent1 wall2) stable)" 2385 2391)
 ))
(17
 (
  ("(x(agent1) 4)" 25 203)
  ("(x(agent1) 5)" 203 905)
  ("(x(agent1) 4)" 905 1071)
  ("(x(agent1) 3)" 1071 1211)
  ("(x(agent1) 2)" 1211 1376)
  ("(x(agent1) 1)" 1376 2392)
  ("(x(agent1) stable)" 26 76)
  ("(x(agent1) down)" 76 457)
  ("(x(agent1) stable)" 457 677)
  ("(x(agent1) up)" 677 1440)
  ("(x(agent1) stable)" 1440 2392)
  ("(y(agent1) 5)" 25 503)
  ("(y(agent1) 4)" 503 612)
  ("(y(agent1) 3)" 612 709)
  ("(y(agent1) 2)" 709 2392)
  ("(y(agent1) up)" 26 840)
  ("(y(agent1) stable)" 840 1440)
  ("(y(agent1) up)" 1440 1442)
  ("(y(agent1) stable)" 1442 1476)
  ("(y(agent1) down)" 1476 1520)
  ("(y(agent1) stable)" 1520 1539)
  ("(y(agent1) up)" 1539 1566)
  ("(y(agent1) stable)" 1566 1588)
  ("(y(agent1) down)" 1588 1623)
  ("(y(agent1) stable)" 1623 1643)
  ("(y(agent1) up)" 1643 1672)
  ("(y(agent1) stable)" 1672 1693)
  ("(y(agent1) down)" 1693 1724)
  ("(y(agent1) stable)" 1724 1744)
  ("(y(agent1) up)" 1744 1778)
  ("(y(agent1) stable)" 1778 1799)
  ("(y(agent1) down)" 1799 1832)
  ("(y(agent1) stable)" 1832 1851)
  ("(y(agent1) up)" 1851 1886)
  ("(y(agent1) stable)" 1886 1906)
  ("(y(agent1) down)" 1906 1941)
  ("(y(agent1) stable)" 1941 1961)
  ("(y(agent1) up)" 1961 1990)
  ("(y(agent1) stable)" 1990 2011)
  ("(y(agent1) down)" 2011 2040)
  ("(y(agent1) stable)" 2040 2061)
  ("(y(agent1) up)" 2061 2095)
  ("(y(agent1) stable)" 2095 2116)
  ("(y(agent1) down)" 2116 2149)
  ("(y(agent1) stable)" 2149 2168)
  ("(y(agent1) up)" 2168 2203)
  ("(y(agent1) stable)" 2203 2223)
  ("(y(agent1) down)" 2223 2258)
  ("(y(agent1) stable)" 2258 2280)
  ("(y(agent1) up)" 2280 2302)
  ("(y(agent1) stable)" 2302 2325)
  ("(y(agent1) down)" 2325 2348)
  ("(y(agent1) stable)" 2348 2369)
  ("(y(agent1) up)" 2369 2392)
  ("(speed(agent1) 5)" 25 34)
  ("(speed(agent1) 4)" 34 54)
  ("(speed(agent1) 3)" 54 82)
  ("(speed(agent1) 2)" 82 242)
  ("(speed(agent1) 1)" 242 693)
  ("(speed(agent1) 2)" 693 916)
  ("(speed(agent1) 1)" 916 1403)
  ("(speed(agent1) 2)" 1403 1417)
  ("(speed(agent1) 3)" 1417 1429)
  ("(speed(agent1) 4)" 1429 1443)
  ("(speed(agent1) 5)" 1443 1490)
  ("(speed(agent1) 4)" 1490 1508)
  ("(speed(agent1) 5)" 1508 2364)
  ("(speed(agent1) 4)" 2364 2378)
  ("(speed(agent1) 5)" 2378 2392)
  ("(speed(agent1) up)" 26 180)
  ("(speed(agent1) stable)" 180 228)
  ("(speed(agent1) up)" 228 268)
  ("(speed(agent1) stable)" 268 655)
  ("(speed(agent1) down)" 655 740)
  ("(speed(agent1) stable)" 740 828)
  ("(speed(agent1) up)" 828 832)
  ("(speed(agent1) down)" 832 850)
  ("(speed(agent1) stable)" 850 883)
  ("(speed(agent1) up)" 883 947)
  ("(speed(agent1) stable)" 947 1396)
  ("(speed(agent1) down)" 1396 1457)
  ("(speed(agent1) stable)" 1457 1459)
  ("(speed(agent1) up)" 1459 1495)
  ("(speed(agent1) down)" 1495 1546)
  ("(speed(agent1) up)" 1546 1548)
  ("(speed(agent1) stable)" 1548 1549)
  ("(speed(agent1) down)" 1549 1582)
  ("(speed(agent1) stable)" 1582 1583)
  ("(speed(agent1) up)" 1583 1636)
  ("(speed(agent1) down)" 1636 1687)
  ("(speed(agent1) stable)" 1687 1688)
  ("(speed(agent1) up)" 1688 1741)
  ("(speed(agent1) stable)" 1741 1742)
  ("(speed(agent1) down)" 1742 1793)
  ("(speed(agent1) stable)" 1793 1794)
  ("(speed(agent1) up)" 1794 1848)
  ("(speed(agent1) stable)" 1848 1849)
  ("(speed(agent1) down)" 1849 1900)
  ("(speed(agent1) stable)" 1900 1901)
  ("(speed(agent1) up)" 1901 1954)
  ("(speed(agent1) stable)" 1954 1955)
  ("(speed(agent1) down)" 1955 2006)
  ("(speed(agent1) up)" 2006 2058)
  ("(speed(agent1) stable)" 2058 2059)
  ("(speed(agent1) down)" 2059 2110)
  ("(speed(agent1) stable)" 2110 2111)
  ("(speed(agent1) up)" 2111 2165)
  ("(speed(agent1) stable)" 2165 2166)
  ("(speed(agent1) down)" 2166 2217)
  ("(speed(agent1) stable)" 2217 2218)
  ("(speed(agent1) up)" 2218 2268)
  ("(speed(agent1) stable)" 2268 2269)
  ("(speed(agent1) down)" 2269 2319)
  ("(speed(agent1) stable)" 2319 2320)
  ("(speed(agent1) up)" 2320 2371)
  ("(speed(agent1) stable)" 2371 2372)
  ("(speed(agent1) down)" 2372 2392)
  ("(heading(agent1) 4)" 50 122)
  ("(heading(agent1) 3)" 122 330)
  ("(heading(agent1) 4)" 330 682)
  ("(heading(agent1) 5)" 682 1326)
  ("(heading(agent1) 1)" 1326 2367)
  ("(heading(agent1) up)" 51 223)
  ("(heading(agent1) stable)" 223 245)
  ("(heading(agent1) down)" 245 871)
  ("(heading(agent1) stable)" 871 1338)
  ("(heading(agent1) down)" 1338 1567)
  ("(heading(agent1) stable)" 1567 2367)
  ("(energy(agent1) 2)" 25 1520)
  ("(energy(agent1) 3)" 1520 1654)
  ("(energy(agent1) 4)" 1654 1851)
  ("(energy(agent1) 5)" 1851 2392)
  ("(energy(agent1) stable)" 26 1402)
  ("(energy(agent1) down)" 1402 1453)
  ("(energy(agent1) stable)" 1453 1496)
  ("(energy(agent1) down)" 1496 1547)
  ("(energy(agent1) stable)" 1547 1604)
  ("(energy(agent1) down)" 1604 1655)
  ("(energy(agent1) stable)" 1655 1705)
  ("(energy(agent1) down)" 1705 1756)
  ("(energy(agent1) stable)" 1756 1813)
  ("(energy(agent1) down)" 1813 1864)
  ("(energy(agent1) stable)" 1864 1922)
  ("(energy(agent1) down)" 1922 1973)
  ("(energy(agent1) stable)" 1973 2022)
  ("(energy(agent1) down)" 2022 2073)
  ("(energy(agent1) stable)" 2073 2130)
  ("(energy(agent1) down)" 2130 2181)
  ("(energy(agent1) stable)" 2181 2239)
  ("(energy(agent1) down)" 2239 2290)
  ("(energy(agent1) stable)" 2290 2333)
  ("(energy(agent1) down)" 2333 2384)
  ("(energy(agent1) stable)" 2384 2387)
  ("(energy(agent1) down)" 2387 2392)
  ("(arousal(agent1) 4)" 25 253)
  ("(arousal(agent1) 3)" 253 359)
  ("(arousal(agent1) 4)" 359 939)
  ("(arousal(agent1) 5)" 939 1431)
  ("(arousal(agent1) 4)" 1431 1501)
  ("(arousal(agent1) 3)" 1501 1540)
  ("(arousal(agent1) 2)" 1540 1637)
  ("(arousal(agent1) 1)" 1637 2392)
  ("(arousal(agent1) down)" 26 173)
  ("(arousal(agent1) stable)" 173 184)
  ("(arousal(agent1) up)" 184 284)
  ("(arousal(agent1) stable)" 284 296)
  ("(arousal(agent1) down)" 296 562)
  ("(arousal(agent1) stable)" 562 582)
  ("(arousal(agent1) up)" 582 659)
  ("(arousal(agent1) stable)" 659 679)
  ("(arousal(agent1) down)" 679 1290)
  ("(arousal(agent1) stable)" 1290 1309)
  ("(arousal(agent1) up)" 1309 1546)
  ("(arousal(agent1) stable)" 1546 1583)
  ("(arousal(agent1) up)" 1583 1660)
  ("(arousal(agent1) stable)" 1660 1680)
  ("(arousal(agent1) down)" 1680 1704)
  ("(arousal(agent1) up)" 1704 1755)
  ("(arousal(agent1) down)" 1755 1777)
  ("(arousal(agent1) stable)" 1777 1797)
  ("(arousal(agent1) up)" 1797 1838)
  ("(arousal(agent1) stable)" 1838 1880)
  ("(arousal(agent1) down)" 1880 1882)
  ("(arousal(agent1) stable)" 1882 1929)
  ("(arousal(agent1) up)" 1929 1933)
  ("(arousal(agent1) stable)" 1933 1991)
  ("(arousal(agent1) down)" 1991 2021)
  ("(arousal(agent1) stable)" 2021 2072)
  ("(arousal(agent1) down)" 2072 2093)
  ("(arousal(agent1) stable)" 2093 2113)
  ("(arousal(agent1) up)" 2113 2154)
  ("(arousal(agent1) stable)" 2154 2196)
  ("(arousal(agent1) down)" 2196 2199)
  ("(arousal(agent1) stable)" 2199 2247)
  ("(arousal(agent1) up)" 2247 2250)
  ("(arousal(agent1) stable)" 2250 2306)
  ("(arousal(agent1) down)" 2306 2332)
  ("(arousal(agent1) stable)" 2332 2383)
  ("(arousal(agent1) down)" 2383 2392)
  ("(valence(agent1) 4)" 25 1434)
  ("(valence(agent1) 3)" 1434 1514)
  ("(valence(agent1) 2)" 1514 1613)
  ("(valence(agent1) 1)" 1613 2392)
  ("(valence(agent1) stable)" 26 1401)
  ("(valence(agent1) up)" 1401 1452)
  ("(valence(agent1) down)" 1452 1495)
  ("(valence(agent1) up)" 1495 1546)
  ("(valence(agent1) down)" 1546 1603)
  ("(valence(agent1) up)" 1603 1654)
  ("(valence(agent1) down)" 1654 1704)
  ("(valence(agent1) up)" 1704 1755)
  ("(valence(agent1) down)" 1755 1812)
  ("(valence(agent1) up)" 1812 1863)
  ("(valence(agent1) down)" 1863 1921)
  ("(valence(agent1) up)" 1921 1972)
  ("(valence(agent1) down)" 1972 2021)
  ("(valence(agent1) up)" 2021 2072)
  ("(valence(agent1) down)" 2072 2129)
  ("(valence(agent1) up)" 2129 2180)
  ("(valence(agent1) down)" 2180 2238)
  ("(valence(agent1) up)" 2238 2289)
  ("(valence(agent1) down)" 2289 2332)
  ("(valence(agent1) up)" 2332 2383)
  ("(valence(agent1) down)" 2383 2392)
  ("(goal(agent1) WanderGoal)" 0 194)
  ("(goal(agent1) PursueGoal)" 194 2417)
  ("(state(agent1) wander)" 0 194)
  ("(state(agent1) charge)" 194 1426)
  ("(state(agent1) back-away)" 1426 1460)
  ("(state(agent1) charge)" 1460 1520)
  ("(state(agent1) back-away)" 1520 1554)
  ("(state(agent1) charge)" 1554 1627)
  ("(state(agent1) back-away)" 1627 1658)
  ("(state(agent1) charge)" 1658 1729)
  ("(state(agent1) back-away)" 1729 1763)
  ("(state(agent1) charge)" 1763 1836)
  ("(state(agent1) back-away)" 1836 1870)
  ("(state(agent1) charge)" 1870 1945)
  ("(state(agent1) back-away)" 1945 1976)
  ("(state(agent1) charge)" 1976 2046)
  ("(state(agent1) back-away)" 2046 2080)
  ("(state(agent1) charge)" 2080 2153)
  ("(state(agent1) back-away)" 2153 2187)
  ("(state(agent1) charge)" 2187 2262)
  ("(state(agent1) back-away)" 2262 2290)
  ("(state(agent1) charge)" 2290 2356)
  ("(state(agent1) back-away)" 2356 2390)
  ("(state(agent1) charge)" 2390 2417)
  ("(x(agent2) 5)" 218 822)
  ("(x(agent2) 4)" 822 995)
  ("(x(agent2) 3)" 995 1141)
  ("(x(agent2) 2)" 1141 1314)
  ("(x(agent2) 1)" 1314 1418)
  ("(x(agent2) 1)" 1492 1560)
  ("(x(agent2) 2)" 1560 1612)
  ("(x(agent2) 1)" 1612 1670)
  ("(x(agent2) 2)" 1670 1697)
  ("(x(agent2) 1)" 1697 2392)
  ("(x(agent2) stable)" 219 581)
  ("(x(agent2) up)" 581 1354)
  ("(x(agent2) stable)" 1354 1398)
  ("(x(agent2) down)" 1398 1418)
  ("(x(agent2) stable)" 1493 2392)
  ("(y(agent2) 5)" 218 491)
  ("(y(agent2) 4)" 491 544)
  ("(y(agent2) 3)" 544 606)
  ("(y(agent2) 2)" 606 1418)
  ("(y(agent2) 2)" 1492 1542)
  ("(y(agent2) 3)" 1542 2392)
  ("(y(agent2) up)" 219 733)
  ("(y(agent2) stable)" 733 1346)
  ("(y(agent2) down)" 1346 1418)
  ("(y(agent2) up)" 1493 1510)
  ("(y(agent2) stable)" 1510 1525)
  ("(y(agent2) down)" 1525 1577)
  ("(y(agent2) stable)" 1577 1586)
  ("(y(agent2) up)" 1586 1627)
  ("(y(agent2) stable)" 1627 1637)
  ("(y(agent2) down)" 1637 1679)
  ("(y(agent2) stable)" 1679 1688)
  ("(y(agent2) up)" 1688 1730)
  ("(y(agent2) stable)" 1730 1739)
  ("(y(agent2) down)" 1739 1784)
  ("(y(agent2) stable)" 1784 1793)
  ("(y(agent2) up)" 1793 1837)
  ("(y(agent2) stable)" 1837 1846)
  ("(y(agent2) down)" 1846 1892)
  ("(y(agent2) stable)" 1892 1901)
  ("(y(agent2) up)" 1901 1946)
  ("(y(agent2) stable)" 1946 1956)
  ("(y(agent2) down)" 1956 1995)
  ("(y(agent2) stable)" 1995 2005)
  ("(y(agent2) up)" 2005 2047)
  ("(y(agent2) stable)" 2047 2056)
  ("(y(agent2) down)" 2056 2101)
  ("(y(agent2) stable)" 2101 2110)
  ("(y(agent2) up)" 2110 2154)
  ("(y(agent2) stable)" 2154 2163)
  ("(y(agent2) down)" 2163 2208)
  ("(y(agent2) stable)" 2208 2218)
  ("(y(agent2) up)" 2218 2263)
  ("(y(agent2) stable)" 2263 2273)
  ("(y(agent2) down)" 2273 2309)
  ("(y(agent2) stable)" 2309 2319)
  ("(y(agent2) up)" 2319 2355)
  ("(y(agent2) stable)" 2355 2364)
  ("(y(agent2) down)" 2364 2392)
  ("(speed(agent2) 1)" 218 543)
  ("(speed(agent2) 2)" 543 580)
  ("(speed(agent2) 3)" 580 597)
  ("(speed(agent2) 2)" 597 712)
  ("(speed(agent2) 1)" 712 1312)
  ("(speed(agent2) 2)" 1312 1328)
  ("(speed(agent2) 3)" 1328 1339)
  ("(speed(agent2) 4)" 1339 1352)
  ("(speed(agent2) 5)" 1352 1416)
  ("(speed(agent2) 4)" 1416 1418)
  ("(speed(agent2) 5)" 1492 1527)
  ("(speed(agent2) 4)" 1527 1549)
  ("(speed(agent2) 5)" 1549 1623)
  ("(speed(agent2) 4)" 1623 1646)
  ("(speed(agent2) 5)" 1646 1736)
  ("(speed(agent2) 4)" 1736 1745)
  ("(speed(agent2) 5)" 1745 1829)
  ("(speed(agent2) 4)" 1829 1858)
  ("(speed(agent2) 5)" 1858 1932)
  ("(speed(agent2) 4)" 1932 1962)
  ("(speed(agent2) 5)" 1962 2054)
  ("(speed(agent2) 4)" 2054 2061)
  ("(speed(agent2) 5)" 2061 2146)
  ("(speed(agent2) 4)" 2146 2175)
  ("(speed(agent2) 5)" 2175 2250)
  ("(speed(agent2) 4)" 2250 2277)
  ("(speed(agent2) 5)" 2277 2356)
  ("(speed(agent2) 4)" 2356 2387)
  ("(speed(agent2) 5)" 2387 2392)
  ("(speed(agent2) up)" 219 254)
  ("(speed(agent2) stable)" 254 260)
  ("(speed(agent2) up)" 260 282)
  ("(speed(agent2) stable)" 282 530)
  ("(speed(agent2) down)" 530 586)
  ("(speed(agent2) stable)" 586 587)
  ("(speed(agent2) up)" 587 772)
  ("(speed(agent2) stable)" 772 778)
  ("(speed(agent2) up)" 778 797)
  ("(speed(agent2) stable)" 797 1301)
  ("(speed(agent2) down)" 1301 1372)
  ("(speed(agent2) stable)" 1372 1375)
  ("(speed(agent2) up)" 1375 1418)
  ("(speed(agent2) up)" 1493 1495)
  ("(speed(agent2) down)" 1495 1500)
  ("(speed(agent2) up)" 1500 1537)
  ("(speed(agent2) stable)" 1537 1538)
  ("(speed(agent2) down)" 1538 1586)
  ("(speed(agent2) up)" 1586 1637)
  ("(speed(agent2) stable)" 1637 1638)
  ("(speed(agent2) down)" 1638 1688)
  ("(speed(agent2) stable)" 1688 1689)
  ("(speed(agent2) up)" 1689 1741)
  ("(speed(agent2) stable)" 1741 1742)
  ("(speed(agent2) down)" 1742 1793)
  ("(speed(agent2) stable)" 1793 1794)
  ("(speed(agent2) up)" 1794 1848)
  ("(speed(agent2) stable)" 1848 1849)
  ("(speed(agent2) down)" 1849 1900)
  ("(speed(agent2) stable)" 1900 1901)
  ("(speed(agent2) up)" 1901 1953)
  ("(speed(agent2) stable)" 1953 1954)
  ("(speed(agent2) down)" 1954 2004)
  ("(speed(agent2) stable)" 2004 2005)
  ("(speed(agent2) up)" 2005 2058)
  ("(speed(agent2) stable)" 2058 2059)
  ("(speed(agent2) down)" 2059 2110)
  ("(speed(agent2) stable)" 2110 2111)
  ("(speed(agent2) up)" 2111 2165)
  ("(speed(agent2) stable)" 2165 2166)
  ("(speed(agent2) down)" 2166 2217)
  ("(speed(agent2) stable)" 2217 2218)
  ("(speed(agent2) up)" 2218 2268)
  ("(speed(agent2) stable)" 2268 2269)
  ("(speed(agent2) down)" 2269 2319)
  ("(speed(agent2) stable)" 2319 2320)
  ("(speed(agent2) up)" 2320 2332)
  ("(speed(agent2) stable)" 2332 2333)
  ("(speed(agent2) up)" 2333 2371)
  ("(speed(agent2) stable)" 2371 2372)
  ("(speed(agent2) down)" 2372 2383)
  ("(speed(agent2) stable)" 2383 2384)
  ("(speed(agent2) down)" 2384 2392)
  ("(heading(agent2) 3)" 243 558)
  ("(heading(agent2) 4)" 558 686)
  ("(heading(agent2) 5)" 686 723)
  ("(heading(agent2) 1)" 723 893)
  ("(heading(agent2) 5)" 893 1328)
  ("(heading(agent2) 4)" 1328 1393)
  ("(heading(agent2) 3)" 1517 2367)
  ("(heading(agent2) down)" 244 250)
  ("(heading(agent2) stable)" 250 256)
  ("(heading(agent2) up)" 256 264)
  ("(heading(agent2) stable)" 264 277)
  ("(heading(agent2) down)" 277 281)
  ("(heading(agent2) stable)" 281 290)
  ("(heading(agent2) up)" 290 304)
  ("(heading(agent2) stable)" 304 329)
  ("(heading(agent2) up)" 329 342)
  ("(heading(agent2) stable)" 342 367)
  ("(heading(agent2) up)" 367 379)
  ("(heading(agent2) stable)" 379 405)
  ("(heading(agent2) up)" 405 417)
  ("(heading(agent2) stable)" 417 429)
  ("(heading(agent2) down)" 429 438)
  ("(heading(agent2) stable)" 438 444)
  ("(heading(agent2) up)" 444 455)
  ("(heading(agent2) stable)" 455 464)
  ("(heading(agent2) down)" 464 477)
  ("(heading(agent2) stable)" 477 483)
  ("(heading(agent2) up)" 483 495)
  ("(heading(agent2) stable)" 495 503)
  ("(heading(agent2) down)" 503 637)
  ("(heading(agent2) stable)" 637 639)
  ("(heading(agent2) down)" 639 731)
  ("(heading(agent2) stable)" 731 739)
  ("(heading(agent2) down)" 739 770)
  ("(heading(agent2) stable)" 770 776)
  ("(heading(agent2) up)" 776 781)
  ("(heading(agent2) stable)" 781 795)
  ("(heading(agent2) down)" 795 798)
  ("(heading(agent2) stable)" 798 799)
  ("(heading(agent2) down)" 799 800)
  ("(heading(agent2) stable)" 800 809)
  ("(heading(agent2) up)" 809 822)
  ("(heading(agent2) stable)" 822 832)
  ("(heading(agent2) down)" 832 840)
  ("(heading(agent2) stable)" 840 846)
  ("(heading(agent2) up)" 846 863)
  ("(heading(agent2) stable)" 863 885)
  ("(heading(agent2) up)" 885 900)
  ("(heading(agent2) stable)" 900 924)
  ("(heading(agent2) up)" 924 937)
  ("(heading(agent2) stable)" 937 966)
  ("(heading(agent2) up)" 966 975)
  ("(heading(agent2) stable)" 975 985)
  ("(heading(agent2) down)" 985 997)
  ("(heading(agent2) stable)" 997 1004)
  ("(heading(agent2) up)" 1004 1013)
  ("(heading(agent2) stable)" 1013 1021)
  ("(heading(agent2) down)" 1021 1034)
  ("(heading(agent2) stable)" 1034 1041)
  ("(heading(agent2) up)" 1041 1053)
  ("(heading(agent2) stable)" 1053 1061)
  ("(heading(agent2) down)" 1061 1074)
  ("(heading(agent2) stable)" 1074 1080)
  ("(heading(agent2) up)" 1080 1091)
  ("(heading(agent2) stable)" 1091 1102)
  ("(heading(agent2) down)" 1102 1112)
  ("(heading(agent2) stable)" 1112 1118)
  ("(heading(agent2) up)" 1118 1128)
  ("(heading(agent2) stable)" 1128 1156)
  ("(heading(agent2) up)" 1156 1163)
  ("(heading(agent2) stable)" 1163 1194)
  ("(heading(agent2) up)" 1194 1198)
  ("(heading(agent2) stable)" 1198 1230)
  ("(heading(agent2) up)" 1230 1236)
  ("(heading(agent2) stable)" 1236 1248)
  ("(heading(agent2) down)" 1248 1261)
  ("(heading(agent2) stable)" 1261 1267)
  ("(heading(agent2) up)" 1267 1276)
  ("(heading(agent2) stable)" 1276 1283)
  ("(heading(agent2) up)" 1283 1286)
  ("(heading(agent2) stable)" 1286 1297)
  ("(heading(agent2) up)" 1297 1333)
  ("(heading(agent2) stable)" 1333 1336)
  ("(heading(agent2) up)" 1336 1393)
  ("(heading(agent2) up)" 1518 1557)
  ("(heading(agent2) stable)" 1557 1579)
  ("(heading(agent2) up)" 1579 1623)
  ("(heading(agent2) stable)" 1623 1763)
  ("(heading(agent2) up)" 1763 1765)
  ("(heading(agent2) stable)" 1765 1811)
  ("(heading(agent2) down)" 1811 1817)
  ("(heading(agent2) stable)" 1817 1851)
  ("(heading(agent2) up)" 1851 1853)
  ("(heading(agent2) stable)" 1853 1913)
  ("(heading(agent2) up)" 1913 1930)
  ("(heading(agent2) stable)" 1930 2014)
  ("(heading(agent2) down)" 2014 2033)
  ("(heading(agent2) stable)" 2033 2089)
  ("(heading(agent2) down)" 2089 2093)
  ("(heading(agent2) stable)" 2093 2121)
  ("(heading(agent2) up)" 2121 2140)
  ("(heading(agent2) stable)" 2140 2153)
  ("(heading(agent2) down)" 2153 2155)
  ("(heading(agent2) stable)" 2155 2367)
  ("heard(agent1 agent2)" 2222 2397)
  ("heard(agent1 agent2)" 2110 2200)
  ("heard(agent1 agent2)" 1905 2097)
  ("heard(agent1 agent2)" 1794 1883)
  ("heard(agent1 agent2)" 1580 1780)
  ("heard(agent1 agent2)" 1397 1575)
  ("novel(agent1 agent2)" 2223 2301)
  ("novel(agent1 agent2)" 2111 2191)
  ("novel(agent1 agent2)" 1906 1986)
  ("novel(agent1 agent2)" 1795 1874)
  ("novel(agent1 agent2)" 1581 1661)
  ("novel(agent1 agent2)" 1398 1480)
  ("novel(agent1 agent2)" 194 275)
  ("collision(agent1 agent2)" 2356 2358)
  ("collision(agent1 agent2)" 2262 2265)
  ("collision(agent1 agent2)" 2153 2155)
  ("collision(agent1 agent2)" 2046 2047)
  ("collision(agent1 agent2)" 1945 1948)
  ("collision(agent1 agent2)" 1836 1838)
  ("collision(agent1 agent2)" 1729 1730)
  ("collision(agent1 agent2)" 1627 1630)
  ("collision(agent1 agent2)" 1520 1522)
  ("collision(agent1 agent2)" 1426 1427)
  ("(distance(agent1 agent2) 1)" 218 635)
  ("(distance(agent1 agent2) 2)" 635 1351)
  ("(distance(agent1 agent2) 3)" 1351 1379)
  ("(distance(agent1 agent2) 4)" 1379 1404)
  ("(distance(agent1 agent2) 5)" 1404 1563)
  ("(distance(agent1 agent2) 4)" 1563 1595)
  ("(distance(agent1 agent2) 5)" 1595 1672)
  ("(distance(agent1 agent2) 4)" 1672 1693)
  ("(distance(agent1 agent2) 5)" 1693 1771)
  ("(distance(agent1 agent2) 4)" 1771 1805)
  ("(distance(agent1 agent2) 5)" 1805 1876)
  ("(distance(agent1 agent2) 4)" 1876 1915)
  ("(distance(agent1 agent2) 5)" 1915 1991)
  ("(distance(agent1 agent2) 4)" 1991 2009)
  ("(distance(agent1 agent2) 5)" 2009 2088)
  ("(distance(agent1 agent2) 4)" 2088 2122)
  ("(distance(agent1 agent2) 5)" 2122 2193)
  ("(distance(agent1 agent2) 4)" 2193 2232)
  ("(distance(agent1 agent2) 5)" 2232 2391)
  ("(distance(agent1 agent2) 4)" 2391 2392)
  ("(distance(agent1 agent2) down)" 219 381)
  ("(distance(agent1 agent2) stable)" 381 542)
  ("(distance(agent1 agent2) down)" 542 731)
  ("(distance(agent1 agent2) stable)" 731 789)
  ("(distance(agent1 agent2) up)" 789 861)
  ("(distance(agent1 agent2) stable)" 861 1310)
  ("(distance(agent1 agent2) down)" 1310 1432)
  ("(distance(agent1 agent2) stable)" 1432 1434)
  ("(distance(agent1 agent2) up)" 1434 1476)
  ("(distance(agent1 agent2) stable)" 1476 1478)
  ("(distance(agent1 agent2) down)" 1478 1524)
  ("(distance(agent1 agent2) stable)" 1524 1526)
  ("(distance(agent1 agent2) up)" 1526 1578)
  ("(distance(agent1 agent2) stable)" 1578 1581)
  ("(distance(agent1 agent2) down)" 1581 1632)
  ("(distance(agent1 agent2) stable)" 1632 1634)
  ("(distance(agent1 agent2) up)" 1634 1682)
  ("(distance(agent1 agent2) stable)" 1682 1685)
  ("(distance(agent1 agent2) down)" 1685 1733)
  ("(distance(agent1 agent2) stable)" 1733 1736)
  ("(distance(agent1 agent2) up)" 1736 1787)
  ("(distance(agent1 agent2) stable)" 1787 1790)
  ("(distance(agent1 agent2) down)" 1790 1841)
  ("(distance(agent1 agent2) stable)" 1841 1843)
  ("(distance(agent1 agent2) up)" 1843 1895)
  ("(distance(agent1 agent2) stable)" 1895 1897)
  ("(distance(agent1 agent2) down)" 1897 1950)
  ("(distance(agent1 agent2) stable)" 1950 1952)
  ("(distance(agent1 agent2) up)" 1952 1999)
  ("(distance(agent1 agent2) stable)" 1999 2002)
  ("(distance(agent1 agent2) down)" 2002 2050)
  ("(distance(agent1 agent2) stable)" 2050 2053)
  ("(distance(agent1 agent2) up)" 2053 2104)
  ("(distance(agent1 agent2) stable)" 2104 2107)
  ("(distance(agent1 agent2) down)" 2107 2158)
  ("(distance(agent1 agent2) stable)" 2158 2160)
  ("(distance(agent1 agent2) up)" 2160 2212)
  ("(distance(agent1 agent2) stable)" 2212 2214)
  ("(distance(agent1 agent2) down)" 2214 2267)
  ("(distance(agent1 agent2) stable)" 2267 2270)
  ("(distance(agent1 agent2) up)" 2270 2313)
  ("(distance(agent1 agent2) stable)" 2313 2316)
  ("(distance(agent1 agent2) down)" 2316 2358)
  ("(distance(agent1 agent2) stable)" 2358 2361)
  ("(distance(agent1 agent2) up)" 2361 2392)
  ("(relativeX(agent1 agent2) 1)" 218 429)
  ("(relativeX(agent1 agent2) 2)" 429 592)
  ("(relativeX(agent1 agent2) 3)" 592 647)
  ("(relativeX(agent1 agent2) 4)" 647 714)
  ("(relativeX(agent1 agent2) 5)" 714 1367)
  ("(relativeX(agent1 agent2) 4)" 1367 1400)
  ("(relativeX(agent1 agent2) 3)" 1400 1418)
  ("(relativeX(agent1 agent2) 2)" 1492 2392)
  ("(relativeX(agent1 agent2) down)" 219 829)
  ("(relativeX(agent1 agent2) stable)" 829 1312)
  ("(relativeX(agent1 agent2) up)" 1312 1418)
  ("(relativeX(agent1 agent2) down)" 1493 1502)
  ("(relativeX(agent1 agent2) stable)" 1502 1538)
  ("(relativeX(agent1 agent2) up)" 1538 1558)
  ("(relativeX(agent1 agent2) stable)" 1558 1590)
  ("(relativeX(agent1 agent2) down)" 1590 1623)
  ("(relativeX(agent1 agent2) stable)" 1623 2374)
  ("(relativeX(agent1 agent2) up)" 2374 2392)
  ("(relativeY(agent1 agent2) 5)" 218 705)
  ("(relativeY(agent1 agent2) 4)" 705 761)
  ("(relativeY(agent1 agent2) 3)" 761 831)
  ("(relativeY(agent1 agent2) 2)" 831 1418)
  ("(relativeY(agent1 agent2) 2)" 1492 1560)
  ("(relativeY(agent1 agent2) 1)" 1560 1598)
  ("(relativeY(agent1 agent2) 2)" 1598 1667)
  ("(relativeY(agent1 agent2) 1)" 1667 1698)
  ("(relativeY(agent1 agent2) 2)" 1698 1767)
  ("(relativeY(agent1 agent2) 1)" 1767 1808)
  ("(relativeY(agent1 agent2) 2)" 1808 1873)
  ("(relativeY(agent1 agent2) 1)" 1873 1918)
  ("(relativeY(agent1 agent2) 2)" 1918 1986)
  ("(relativeY(agent1 agent2) 1)" 1986 2014)
  ("(relativeY(agent1 agent2) 2)" 2014 2084)
  ("(relativeY(agent1 agent2) 1)" 2084 2125)
  ("(relativeY(agent1 agent2) 2)" 2125 2190)
  ("(relativeY(agent1 agent2) 1)" 2190 2235)
  ("(relativeY(agent1 agent2) 2)" 2235 2389)
  ("(relativeY(agent1 agent2) 1)" 2389 2392)
  ("(relativeY(agent1 agent2) down)" 219 445)
  ("(relativeY(agent1 agent2) stable)" 445 545)
  ("(relativeY(agent1 agent2) up)" 545 874)
  ("(relativeY(agent1 agent2) stable)" 874 1341)
  ("(relativeY(agent1 agent2) up)" 1341 1398)
  ("(relativeY(agent1 agent2) stable)" 1398 1405)
  ("(relativeY(agent1 agent2) up)" 1405 1418)
  ("(relativeY(agent1 agent2) down)" 1493 1523)
  ("(relativeY(agent1 agent2) stable)" 1523 1527)
  ("(relativeY(agent1 agent2) up)" 1527 1578)
  ("(relativeY(agent1 agent2) stable)" 1578 1581)
  ("(relativeY(agent1 agent2) down)" 1581 1631)
  ("(relativeY(agent1 agent2) stable)" 1631 1634)
  ("(relativeY(agent1 agent2) up)" 1634 1682)
  ("(relativeY(agent1 agent2) stable)" 1682 1685)
  ("(relativeY(agent1 agent2) down)" 1685 1733)
  ("(relativeY(agent1 agent2) stable)" 1733 1736)
  ("(relativeY(agent1 agent2) up)" 1736 1787)
  ("(relativeY(agent1 agent2) stable)" 1787 1790)
  ("(relativeY(agent1 agent2) down)" 1790 1840)
  ("(relativeY(agent1 agent2) stable)" 1840 1844)
  ("(relativeY(agent1 agent2) up)" 1844 1895)
  ("(relativeY(agent1 agent2) stable)" 1895 1898)
  ("(relativeY(agent1 agent2) down)" 1898 1950)
  ("(relativeY(agent1 agent2) stable)" 1950 1953)
  ("(relativeY(agent1 agent2) up)" 1953 1999)
  ("(relativeY(agent1 agent2) stable)" 1999 2002)
  ("(relativeY(agent1 agent2) down)" 2002 2050)
  ("(relativeY(agent1 agent2) stable)" 2050 2053)
  ("(relativeY(agent1 agent2) up)" 2053 2104)
  ("(relativeY(agent1 agent2) stable)" 2104 2107)
  ("(relativeY(agent1 agent2) down)" 2107 2157)
  ("(relativeY(agent1 agent2) stable)" 2157 2161)
  ("(relativeY(agent1 agent2) up)" 2161 2212)
  ("(relativeY(agent1 agent2) stable)" 2212 2215)
  ("(relativeY(agent1 agent2) down)" 2215 2267)
  ("(relativeY(agent1 agent2) stable)" 2267 2270)
  ("(relativeY(agent1 agent2) up)" 2270 2313)
  ("(relativeY(agent1 agent2) stable)" 2313 2316)
  ("(relativeY(agent1 agent2) down)" 2316 2358)
  ("(relativeY(agent1 agent2) stable)" 2358 2361)
  ("(relativeY(agent1 agent2) up)" 2361 2392)
  ("(x(wall1) 3)" 217 659)
  ("(x(wall1) stable)" 218 659)
  ("(y(wall1) 3)" 217 659)
  ("(y(wall1) stable)" 218 659)
  ("(speed(wall1) 3)" 217 659)
  ("(speed(wall1) stable)" 218 659)
  ("(heading(wall1) 3)" 242 634)
  ("(heading(wall1) stable)" 243 634)
  ("novel(agent1 wall1)" 193 274)
  ("(distance(agent1 wall1) 1)" 217 317)
  ("(distance(agent1 wall1) 2)" 317 362)
  ("(distance(agent1 wall1) 3)" 362 412)
  ("(distance(agent1 wall1) 4)" 412 538)
  ("(distance(agent1 wall1) 5)" 538 654)
  ("(distance(agent1 wall1) 4)" 654 659)
  ("(distance(agent1 wall1) down)" 218 577)
  ("(distance(agent1 wall1) stable)" 577 624)
  ("(distance(agent1 wall1) up)" 624 659)
  ("(relativeX(agent1 wall1) 1)" 217 317)
  ("(relativeX(agent1 wall1) 2)" 317 362)
  ("(relativeX(agent1 wall1) 3)" 362 412)
  ("(relativeX(agent1 wall1) 4)" 412 538)
  ("(relativeX(agent1 wall1) 5)" 538 654)
  ("(relativeX(agent1 wall1) 4)" 654 659)
  ("(relativeX(agent1 wall1) down)" 218 577)
  ("(relativeX(agent1 wall1) stable)" 577 624)
  ("(relativeX(agent1 wall1) up)" 624 659)
  ("(relativeY(agent1 wall1) 5)" 217 339)
  ("(relativeY(agent1 wall1) 4)" 339 420)
  ("(relativeY(agent1 wall1) 3)" 420 479)
  ("(relativeY(agent1 wall1) 2)" 479 546)
  ("(relativeY(agent1 wall1) 1)" 546 659)
  ("(relativeY(agent1 wall1) up)" 218 659)
  ("(x(wall2) 3)" 1332 2392)
  ("(x(wall2) stable)" 1333 2392)
  ("(y(wall2) 3)" 1332 2392)
  ("(y(wall2) stable)" 1333 2392)
  ("(speed(wall2) 3)" 1332 2392)
  ("(speed(wall2) stable)" 1333 2392)
  ("(heading(wall2) 3)" 1357 2367)
  ("(heading(wall2) stable)" 1358 2367)
  ("novel(agent1 wall2)" 1308 1388)
  ("(distance(agent1 wall2) 1)" 1332 1405)
  ("(distance(agent1 wall2) 2)" 1405 1415)
  ("(distance(agent1 wall2) 3)" 1415 1426)
  ("(distance(agent1 wall2) 4)" 1426 1524)
  ("(distance(agent1 wall2) 3)" 1524 1998)
  ("(distance(agent1 wall2) 4)" 1998 2020)
  ("(distance(agent1 wall2) 3)" 2020 2060)
  ("(distance(agent1 wall2) 4)" 2060 2392)
  ("(distance(agent1 wall2) down)" 1333 1452)
  ("(distance(agent1 wall2) stable)" 1452 1455)
  ("(distance(agent1 wall2) up)" 1455 1537)
  ("(distance(agent1 wall2) stable)" 1537 1570)
  ("(distance(agent1 wall2) up)" 1570 1636)
  ("(distance(agent1 wall2) stable)" 1636 1650)
  ("(distance(agent1 wall2) down)" 1650 1674)
  ("(distance(agent1 wall2) stable)" 1674 1699)
  ("(distance(agent1 wall2) up)" 1699 1716)
  ("(distance(agent1 wall2) stable)" 1716 1739)
  ("(distance(agent1 wall2) down)" 1739 1785)
  ("(distance(agent1 wall2) stable)" 1785 1804)
  ("(distance(agent1 wall2) up)" 1804 1825)
  ("(distance(agent1 wall2) stable)" 1825 1846)
  ("(distance(agent1 wall2) down)" 1846 1895)
  ("(distance(agent1 wall2) stable)" 1895 1917)
  ("(distance(agent1 wall2) up)" 1917 1932)
  ("(distance(agent1 wall2) stable)" 1932 1957)
  ("(distance(agent1 wall2) down)" 1957 1998)
  ("(distance(agent1 wall2) stable)" 1998 2054)
  ("(distance(agent1 wall2) down)" 2054 2102)
  ("(distance(agent1 wall2) stable)" 2102 2122)
  ("(distance(agent1 wall2) up)" 2122 2145)
  ("(distance(agent1 wall2) stable)" 2145 2165)
  ("(distance(agent1 wall2) down)" 2165 2209)
  ("(distance(agent1 wall2) stable)" 2209 2229)
  ("(distance(agent1 wall2) up)" 2229 2253)
  ("(distance(agent1 wall2) stable)" 2253 2274)
  ("(distance(agent1 wall2) down)" 2274 2310)
  ("(distance(agent1 wall2) stable)" 2310 2330)
  ("(distance(agent1 wall2) up)" 2330 2341)
  ("(distance(agent1 wall2) stable)" 2341 2365)
  ("(distance(agent1 wall2) down)" 2365 2392)
  ("(relativeX(agent1 wall2) 5)" 1332 1405)
  ("(relativeX(agent1 wall2) 4)" 1405 1415)
  ("(relativeX(agent1 wall2) 3)" 1415 1426)
  ("(relativeX(agent1 wall2) 2)" 1426 1524)
  ("(relativeX(agent1 wall2) 3)" 1524 1998)
  ("(relativeX(agent1 wall2) 2)" 1998 2020)
  ("(relativeX(agent1 wall2) 3)" 2020 2060)
  ("(relativeX(agent1 wall2) 2)" 2060 2392)
  ("(relativeX(agent1 wall2) up)" 1333 1452)
  ("(relativeX(agent1 wall2) stable)" 1452 1455)
  ("(relativeX(agent1 wall2) down)" 1455 1537)
  ("(relativeX(agent1 wall2) stable)" 1537 1570)
  ("(relativeX(agent1 wall2) down)" 1570 1636)
  ("(relativeX(agent1 wall2) stable)" 1636 1650)
  ("(relativeX(agent1 wall2) up)" 1650 1674)
  ("(relativeX(agent1 wall2) stable)" 1674 1699)
  ("(relativeX(agent1 wall2) down)" 1699 1716)
  ("(relativeX(agent1 wall2) stable)" 1716 1739)
  ("(relativeX(agent1 wall2) up)" 1739 1785)
  ("(relativeX(agent1 wall2) stable)" 1785 1804)
  ("(relativeX(agent1 wall2) down)" 1804 1825)
  ("(relativeX(agent1 wall2) stable)" 1825 1846)
  ("(relativeX(agent1 wall2) up)" 1846 1895)
  ("(relativeX(agent1 wall2) stable)" 1895 1917)
  ("(relativeX(agent1 wall2) down)" 1917 1932)
  ("(relativeX(agent1 wall2) stable)" 1932 1957)
  ("(relativeX(agent1 wall2) up)" 1957 1998)
  ("(relativeX(agent1 wall2) stable)" 1998 2054)
  ("(relativeX(agent1 wall2) up)" 2054 2102)
  ("(relativeX(agent1 wall2) stable)" 2102 2122)
  ("(relativeX(agent1 wall2) down)" 2122 2145)
  ("(relativeX(agent1 wall2) stable)" 2145 2165)
  ("(relativeX(agent1 wall2) up)" 2165 2209)
  ("(relativeX(agent1 wall2) stable)" 2209 2229)
  ("(relativeX(agent1 wall2) down)" 2229 2253)
  ("(relativeX(agent1 wall2) stable)" 2253 2274)
  ("(relativeX(agent1 wall2) up)" 2274 2310)
  ("(relativeX(agent1 wall2) stable)" 2310 2330)
  ("(relativeX(agent1 wall2) down)" 2330 2341)
  ("(relativeX(agent1 wall2) stable)" 2341 2365)
  ("(relativeX(agent1 wall2) up)" 2365 2392)
  ("(relativeY(agent1 wall2) 1)" 1332 1498)
  ("(relativeY(agent1 wall2) 2)" 1498 1506)
  ("(relativeY(agent1 wall2) 3)" 1506 1514)
  ("(relativeY(agent1 wall2) 4)" 1514 1544)
  ("(relativeY(agent1 wall2) 3)" 1544 1554)
  ("(relativeY(agent1 wall2) 2)" 1554 1571)
  ("(relativeY(agent1 wall2) 1)" 1571 1584)
  ("(relativeY(agent1 wall2) 2)" 1584 1598)
  ("(relativeY(agent1 wall2) 3)" 1598 1606)
  ("(relativeY(agent1 wall2) 4)" 1606 1617)
  ("(relativeY(agent1 wall2) 5)" 1617 1649)
  ("(relativeY(agent1 wall2) 4)" 1649 1660)
  ("(relativeY(agent1 wall2) 3)" 1660 1671)
  ("(relativeY(agent1 wall2) 2)" 1671 1693)
  ("(relativeY(agent1 wall2) 3)" 1693 1704)
  ("(relativeY(agent1 wall2) 4)" 1704 1715)
  ("(relativeY(agent1 wall2) 5)" 1715 1752)
  ("(relativeY(agent1 wall2) 4)" 1752 1762)
  ("(relativeY(agent1 wall2) 3)" 1762 1771)
  ("(relativeY(agent1 wall2) 2)" 1771 1804)
  ("(relativeY(agent1 wall2) 3)" 1804 1813)
  ("(relativeY(agent1 wall2) 4)" 1813 1823)
  ("(relativeY(agent1 wall2) 5)" 1823 1859)
  ("(relativeY(agent1 wall2) 4)" 1859 1868)
  ("(relativeY(agent1 wall2) 3)" 1868 1877)
  ("(relativeY(agent1 wall2) 2)" 1877 1914)
  ("(relativeY(agent1 wall2) 3)" 1914 1922)
  ("(relativeY(agent1 wall2) 4)" 1922 1932)
  ("(relativeY(agent1 wall2) 5)" 1932 1969)
  ("(relativeY(agent1 wall2) 4)" 1969 1980)
  ("(relativeY(agent1 wall2) 3)" 1980 1993)
  ("(relativeY(agent1 wall2) 2)" 1993 2009)
  ("(relativeY(agent1 wall2) 3)" 2009 2021)
  ("(relativeY(agent1 wall2) 4)" 2021 2032)
  ("(relativeY(agent1 wall2) 5)" 2032 2068)
  ("(relativeY(agent1 wall2) 4)" 2068 2078)
  ("(relativeY(agent1 wall2) 3)" 2078 2087)
  ("(relativeY(agent1 wall2) 2)" 2087 2123)
  ("(relativeY(agent1 wall2) 3)" 2123 2131)
  ("(relativeY(agent1 wall2) 4)" 2131 2142)
  ("(relativeY(agent1 wall2) 5)" 2142 2174)
  ("(relativeY(agent1 wall2) 4)" 2174 2184)
  ("(relativeY(agent1 wall2) 3)" 2184 2192)
  ("(relativeY(agent1 wall2) 2)" 2192 2209)
  ("(relativeY(agent1 wall2) 1)" 2209 2216)
  ("(relativeY(agent1 wall2) 2)" 2216 2233)
  ("(relativeY(agent1 wall2) 3)" 2233 2240)
  ("(relativeY(agent1 wall2) 4)" 2240 2251)
  ("(relativeY(agent1 wall2) 5)" 2251 2286)
  ("(relativeY(agent1 wall2) 4)" 2286 2298)
  ("(relativeY(agent1 wall2) 3)" 2298 2329)
  ("(relativeY(agent1 wall2) 4)" 2329 2341)
  ("(relativeY(agent1 wall2) 5)" 2341 2375)
  ("(relativeY(agent1 wall2) 4)" 2375 2384)
  ("(relativeY(agent1 wall2) 3)" 2384 2391)
  ("(relativeY(agent1 wall2) 2)" 2391 2392)
  ("(relativeY(agent1 wall2) stable)" 1333 1364)
  ("(relativeY(agent1 wall2) down)" 1364 1415)
  ("(relativeY(agent1 wall2) stable)" 1415 1417)
  ("(relativeY(agent1 wall2) up)" 1417 1465)
  ("(relativeY(agent1 wall2) stable)" 1465 1466)
  ("(relativeY(agent1 wall2) down)" 1466 1529)
  ("(relativeY(agent1 wall2) stable)" 1529 1530)
  ("(relativeY(agent1 wall2) up)" 1530 1578)
  ("(relativeY(agent1 wall2) down)" 1578 1633)
  ("(relativeY(agent1 wall2) stable)" 1633 1634)
  ("(relativeY(agent1 wall2) up)" 1634 1683)
  ("(relativeY(agent1 wall2) down)" 1683 1734)
  ("(relativeY(agent1 wall2) stable)" 1734 1735)
  ("(relativeY(agent1 wall2) up)" 1735 1788)
  ("(relativeY(agent1 wall2) stable)" 1788 1789)
  ("(relativeY(agent1 wall2) down)" 1789 1842)
  ("(relativeY(agent1 wall2) up)" 1842 1896)
  ("(relativeY(agent1 wall2) down)" 1896 1951)
  ("(relativeY(agent1 wall2) stable)" 1951 1952)
  ("(relativeY(agent1 wall2) up)" 1952 2001)
  ("(relativeY(agent1 wall2) stable)" 2001 2002)
  ("(relativeY(agent1 wall2) down)" 2002 2051)
  ("(relativeY(agent1 wall2) stable)" 2051 2052)
  ("(relativeY(agent1 wall2) up)" 2052 2105)
  ("(relativeY(agent1 wall2) stable)" 2105 2106)
  ("(relativeY(agent1 wall2) down)" 2106 2159)
  ("(relativeY(agent1 wall2) up)" 2159 2213)
  ("(relativeY(agent1 wall2) stable)" 2213 2214)
  ("(relativeY(agent1 wall2) down)" 2214 2268)
  ("(relativeY(agent1 wall2) stable)" 2268 2269)
  ("(relativeY(agent1 wall2) up)" 2269 2314)
  ("(relativeY(agent1 wall2) stable)" 2314 2315)
  ("(relativeY(agent1 wall2) down)" 2315 2359)
  ("(relativeY(agent1 wall2) stable)" 2359 2360)
  ("(relativeY(agent1 wall2) up)" 2360 2392)
  ("(x(wall4) 3)" 604 1402)
  ("(x(wall4) stable)" 605 1402)
  ("(y(wall4) 3)" 604 1402)
  ("(y(wall4) stable)" 605 1402)
  ("(speed(wall4) 3)" 604 1402)
  ("(speed(wall4) stable)" 605 1402)
  ("(heading(wall4) 3)" 629 1377)
  ("(heading(wall4) stable)" 630 1377)
  ("novel(agent1 wall4)" 1456 1538)
  ("novel(agent1 wall4)" 580 660)
  ("collision(agent1 wall4)" 1463 1465)
  ("collision(agent1 wall4)" 857 869)
  ("(distance(agent1 wall4) 1)" 604 725)
  ("(distance(agent1 wall4) 2)" 725 760)
  ("(distance(agent1 wall4) 3)" 760 801)
  ("(distance(agent1 wall4) 4)" 801 1402)
  ("(distance(agent1 wall4) down)" 605 867)
  ("(distance(agent1 wall4) stable)" 867 1388)
  ("(distance(agent1 wall4) up)" 1388 1402)
  ("(relativeX(agent1 wall4) 5)" 604 831)
  ("(relativeX(agent1 wall4) 4)" 831 962)
  ("(relativeX(agent1 wall4) 3)" 962 1069)
  ("(relativeX(agent1 wall4) 2)" 1069 1195)
  ("(relativeX(agent1 wall4) 1)" 1195 1402)
  ("(relativeX(agent1 wall4) stable)" 605 664)
  ("(relativeX(agent1 wall4) up)" 664 1402)
  ("(relativeY(agent1 wall4) 5)" 604 725)
  ("(relativeY(agent1 wall4) 4)" 725 760)
  ("(relativeY(agent1 wall4) 3)" 760 801)
  ("(relativeY(agent1 wall4) 2)" 801 1402)
  ("(relativeY(agent1 wall4) up)" 605 867)
  ("(relativeY(agent1 wall4) stable)" 867 1387)
  ("(relativeY(agent1 wall4) down)" 1387 1402)
 ))
(18
 (
  ("(x(agent1) 1)" 25 425)
  ("(x(agent1) 2)" 425 529)
  ("(x(agent1) 3)" 529 616)
  ("(x(agent1) 4)" 616 1904)
  ("(x(agent1) down)" 26 692)
  ("(x(agent1) stable)" 692 735)
  ("(x(agent1) down)" 735 746)
  ("(x(agent1) stable)" 746 775)
  ("(x(agent1) up)" 775 801)
  ("(x(agent1) stable)" 801 822)
  ("(x(agent1) down)" 822 848)
  ("(x(agent1) stable)" 848 869)
  ("(x(agent1) up)" 869 900)
  ("(x(agent1) stable)" 900 919)
  ("(x(agent1) down)" 919 952)
  ("(x(agent1) stable)" 952 971)
  ("(x(agent1) up)" 971 1005)
  ("(x(agent1) stable)" 1005 1024)
  ("(x(agent1) down)" 1024 1059)
  ("(x(agent1) stable)" 1059 1079)
  ("(x(agent1) up)" 1079 1104)
  ("(x(agent1) stable)" 1104 1124)
  ("(x(agent1) down)" 1124 1151)
  ("(x(agent1) stable)" 1151 1175)
  ("(x(agent1) up)" 1175 1194)
  ("(x(agent1) stable)" 1194 1217)
  ("(x(agent1) down)" 1217 1237)
  ("(x(agent1) stable)" 1237 1268)
  ("(x(agent1) up)" 1268 1278)
  ("(x(agent1) stable)" 1278 1302)
  ("(x(agent1) down)" 1302 1315)
  ("(x(agent1) stable)" 1315 1352)
  ("(x(agent1) up)" 1352 1357)
  ("(x(agent1) stable)" 1357 1383)
  ("(x(agent1) down)" 1383 1388)
  ("(x(agent1) stable)" 1388 1419)
  ("(x(agent1) up)" 1419 1450)
  ("(x(agent1) stable)" 1450 1470)
  ("(x(agent1) down)" 1470 1500)
  ("(x(agent1) stable)" 1500 1527)
  ("(x(agent1) up)" 1527 1536)
  ("(x(agent1) stable)" 1536 1559)
  ("(x(agent1) down)" 1559 1570)
  ("(x(agent1) stable)" 1570 1597)
  ("(x(agent1) up)" 1597 1631)
  ("(x(agent1) stable)" 1631 1647)
  ("(x(agent1) down)" 1647 1676)
  ("(x(agent1) stable)" 1676 1706)
  ("(x(agent1) up)" 1706 1707)
  ("(x(agent1) stable)" 1707 1776)
  ("(x(agent1) up)" 1776 1779)
  ("(x(agent1) stable)" 1779 1806)
  ("(x(agent1) down)" 1806 1808)
  ("(x(agent1) stable)" 1808 1840)
  ("(x(agent1) up)" 1840 1862)
  ("(x(agent1) stable)" 1862 1880)
  ("(x(agent1) down)" 1880 1900)
  ("(x(agent1) stable)" 1900 1904)
  ("(y(agent1) 1)" 25 196)
  ("(y(agent1) 2)" 196 233)
  ("(y(agent1) 3)" 233 279)
  ("(y(agent1) 4)" 279 778)
  ("(y(agent1) 3)" 778 859)
  ("(y(agent1) 4)" 859 945)
  ("(y(agent1) 3)" 945 996)
  ("(y(agent1) 4)" 996 1034)
  ("(y(agent1) 3)" 1034 1089)
  ("(y(agent1) 4)" 1089 1144)
  ("(y(agent1) 3)" 1144 1184)
  ("(y(agent1) 4)" 1184 1227)
  ("(y(agent1) 3)" 1227 1268)
  ("(y(agent1) 4)" 1268 1317)
  ("(y(agent1) 3)" 1317 1348)
  ("(y(agent1) 4)" 1348 1392)
  ("(y(agent1) 3)" 1392 1420)
  ("(y(agent1) 4)" 1420 1487)
  ("(y(agent1) 3)" 1487 1904)
  ("(y(agent1) down)" 26 358)
  ("(y(agent1) stable)" 358 651)
  ("(y(agent1) up)" 651 661)
  ("(y(agent1) stable)" 661 673)
  ("(y(agent1) down)" 673 697)
  ("(y(agent1) stable)" 697 714)
  ("(y(agent1) up)" 714 784)
  ("(y(agent1) stable)" 784 861)
  ("(y(agent1) down)" 861 892)
  ("(y(agent1) stable)" 892 917)
  ("(y(agent1) up)" 917 956)
  ("(y(agent1) stable)" 956 982)
  ("(y(agent1) down)" 982 994)
  ("(y(agent1) stable)" 994 1033)
  ("(y(agent1) up)" 1033 1045)
  ("(y(agent1) stable)" 1045 1078)
  ("(y(agent1) down)" 1078 1101)
  ("(y(agent1) stable)" 1101 1129)
  ("(y(agent1) up)" 1129 1145)
  ("(y(agent1) stable)" 1145 1271)
  ("(y(agent1) down)" 1271 1274)
  ("(y(agent1) stable)" 1274 1424)
  ("(y(agent1) down)" 1424 1443)
  ("(y(agent1) stable)" 1443 1469)
  ("(y(agent1) up)" 1469 1500)
  ("(y(agent1) stable)" 1500 1556)
  ("(y(agent1) up)" 1556 1576)
  ("(y(agent1) stable)" 1576 1603)
  ("(y(agent1) down)" 1603 1622)
  ("(y(agent1) stable)" 1622 1643)
  ("(y(agent1) up)" 1643 1682)
  ("(y(agent1) stable)" 1682 1724)
  ("(y(agent1) up)" 1724 1746)
  ("(y(agent1) stable)" 1746 1795)
  ("(y(agent1) up)" 1795 1821)
  ("(y(agent1) stable)" 1821 1877)
  ("(y(agent1) up)" 1877 1904)
  ("(speed(agent1) 4)" 25 33)
  ("(speed(agent1) 3)" 33 48)
  ("(speed(agent1) 2)" 48 75)
  ("(speed(agent1) 1)" 75 148)
  ("(speed(agent1) 2)" 148 187)
  ("(speed(agent1) 1)" 187 679)
  ("(speed(agent1) 2)" 679 691)
  ("(speed(agent1) 3)" 691 699)
  ("(speed(agent1) 4)" 699 710)
  ("(speed(agent1) 5)" 710 720)
  ("(speed(agent1) 4)" 720 789)
  ("(speed(agent1) 5)" 789 827)
  ("(speed(agent1) 4)" 827 897)
  ("(speed(agent1) 5)" 897 924)
  ("(speed(agent1) 4)" 924 1005)
  ("(speed(agent1) 5)" 1005 1029)
  ("(speed(agent1) 4)" 1029 1096)
  ("(speed(agent1) 5)" 1096 1128)
  ("(speed(agent1) 4)" 1128 1180)
  ("(speed(agent1) 5)" 1180 1226)
  ("(speed(agent1) 4)" 1226 1267)
  ("(speed(agent1) 5)" 1267 1316)
  ("(speed(agent1) 4)" 1316 1347)
  ("(speed(agent1) 5)" 1347 1396)
  ("(speed(agent1) 4)" 1396 1446)
  ("(speed(agent1) 5)" 1446 1475)
  ("(speed(agent1) 4)" 1475 1525)
  ("(speed(agent1) 5)" 1525 1573)
  ("(speed(agent1) 4)" 1573 1674)
  ("(speed(agent1) 3)" 1674 1686)
  ("(speed(agent1) 4)" 1686 1704)
  ("(speed(agent1) 5)" 1704 1715)
  ("(speed(agent1) 4)" 1715 1730)
  ("(speed(agent1) 5)" 1730 1737)
  ("(speed(agent1) 4)" 1737 1774)
  ("(speed(agent1) 5)" 1774 1787)
  ("(speed(agent1) 4)" 1787 1904)
  ("(speed(agent1) up)" 26 111)
  ("(speed(agent1) stable)" 111 112)
  ("(speed(agent1) down)" 112 163)
  ("(speed(agent1) stable)" 163 164)
  ("(speed(agent1) up)" 164 339)
  ("(speed(agent1) stable)" 339 358)
  ("(speed(agent1) up)" 358 365)
  ("(speed(agent1) stable)" 365 375)
  ("(speed(agent1) up)" 375 380)
  ("(speed(agent1) stable)" 380 385)
  ("(speed(agent1) up)" 385 406)
  ("(speed(agent1) stable)" 406 416)
  ("(speed(agent1) up)" 416 426)
  ("(speed(agent1) stable)" 426 660)
  ("(speed(agent1) down)" 660 711)
  ("(speed(agent1) stable)" 711 713)
  ("(speed(agent1) up)" 713 736)
  ("(speed(agent1) down)" 736 739)
  ("(speed(agent1) stable)" 739 741)
  ("(speed(agent1) up)" 741 769)
  ("(speed(agent1) stable)" 769 770)
  ("(speed(agent1) down)" 770 817)
  ("(speed(agent1) stable)" 817 818)
  ("(speed(agent1) up)" 818 865)
  ("(speed(agent1) down)" 865 914)
  ("(speed(agent1) stable)" 914 915)
  ("(speed(agent1) up)" 915 967)
  ("(speed(agent1) stable)" 967 968)
  ("(speed(agent1) down)" 968 1019)
  ("(speed(agent1) stable)" 1019 1020)
  ("(speed(agent1) up)" 1020 1068)
  ("(speed(agent1) stable)" 1068 1069)
  ("(speed(agent1) down)" 1069 1119)
  ("(speed(agent1) up)" 1119 1162)
  ("(speed(agent1) stable)" 1162 1163)
  ("(speed(agent1) down)" 1163 1211)
  ("(speed(agent1) stable)" 1211 1212)
  ("(speed(agent1) up)" 1212 1222)
  ("(speed(agent1) down)" 1222 1223)
  ("(speed(agent1) stable)" 1223 1224)
  ("(speed(agent1) up)" 1224 1250)
  ("(speed(agent1) stable)" 1250 1251)
  ("(speed(agent1) down)" 1251 1273)
  ("(speed(agent1) stable)" 1273 1297)
  ("(speed(agent1) up)" 1297 1304)
  ("(speed(agent1) down)" 1304 1307)
  ("(speed(agent1) stable)" 1307 1308)
  ("(speed(agent1) up)" 1308 1332)
  ("(speed(agent1) stable)" 1332 1333)
  ("(speed(agent1) down)" 1333 1355)
  ("(speed(agent1) up)" 1355 1381)
  ("(speed(agent1) down)" 1381 1386)
  ("(speed(agent1) stable)" 1386 1387)
  ("(speed(agent1) up)" 1387 1418)
  ("(speed(agent1) stable)" 1418 1419)
  ("(speed(agent1) down)" 1419 1465)
  ("(speed(agent1) stable)" 1465 1466)
  ("(speed(agent1) up)" 1466 1507)
  ("(speed(agent1) stable)" 1507 1508)
  ("(speed(agent1) down)" 1508 1531)
  ("(speed(agent1) stable)" 1531 1532)
  ("(speed(agent1) up)" 1532 1560)
  ("(speed(agent1) down)" 1560 1564)
  ("(speed(agent1) stable)" 1564 1565)
  ("(speed(agent1) up)" 1565 1599)
  ("(speed(agent1) down)" 1599 1635)
  ("(speed(agent1) stable)" 1635 1645)
  ("(speed(agent1) up)" 1645 1656)
  ("(speed(agent1) down)" 1656 1657)
  ("(speed(agent1) up)" 1657 1680)
  ("(speed(agent1) stable)" 1680 1681)
  ("(speed(agent1) down)" 1681 1707)
  ("(speed(agent1) up)" 1707 1727)
  ("(speed(agent1) down)" 1727 1734)
  ("(speed(agent1) up)" 1734 1755)
  ("(speed(agent1) stable)" 1755 1756)
  ("(speed(agent1) down)" 1756 1778)
  ("(speed(agent1) up)" 1778 1800)
  ("(speed(agent1) down)" 1800 1807)
  ("(speed(agent1) up)" 1807 1832)
  ("(speed(agent1) stable)" 1832 1833)
  ("(speed(agent1) down)" 1833 1851)
  ("(speed(agent1) stable)" 1851 1852)
  ("(speed(agent1) up)" 1852 1884)
  ("(speed(agent1) down)" 1884 1887)
  ("(speed(agent1) stable)" 1887 1888)
  ("(speed(agent1) up)" 1888 1904)
  ("(heading(agent1) 1)" 50 241)
  ("(heading(agent1) 2)" 241 300)
  ("(heading(agent1) 3)" 300 656)
  ("(heading(agent1) 4)" 656 720)
  ("(heading(agent1) 5)" 720 749)
  ("(heading(agent1) 4)" 749 1879)
  ("(heading(agent1) up)" 51 90)
  ("(heading(agent1) stable)" 90 101)
  ("(heading(agent1) down)" 101 331)
  ("(heading(agent1) stable)" 331 340)
  ("(heading(agent1) down)" 340 342)
  ("(heading(agent1) stable)" 342 620)
  ("(heading(agent1) down)" 620 625)
  ("(heading(agent1) stable)" 625 628)
  ("(heading(agent1) down)" 628 722)
  ("(heading(agent1) stable)" 722 744)
  ("(heading(agent1) up)" 744 812)
  ("(heading(agent1) stable)" 812 1879)
  ("(energy(agent1) 1)" 25 689)
  ("(energy(agent1) 2)" 689 950)
  ("(energy(agent1) 3)" 950 1170)
  ("(energy(agent1) 4)" 1170 1430)
  ("(energy(agent1) 5)" 1430 1904)
  ("(energy(agent1) stable)" 26 661)
  ("(energy(agent1) down)" 661 712)
  ("(energy(agent1) stable)" 712 737)
  ("(energy(agent1) down)" 737 788)
  ("(energy(agent1) stable)" 788 831)
  ("(energy(agent1) down)" 831 882)
  ("(energy(agent1) stable)" 882 933)
  ("(energy(agent1) down)" 933 984)
  ("(energy(agent1) stable)" 984 1039)
  ("(energy(agent1) down)" 1039 1090)
  ("(energy(agent1) stable)" 1090 1133)
  ("(energy(agent1) down)" 1133 1184)
  ("(energy(agent1) stable)" 1184 1223)
  ("(energy(agent1) down)" 1223 1274)
  ("(energy(agent1) stable)" 1274 1305)
  ("(energy(agent1) down)" 1305 1356)
  ("(energy(agent1) stable)" 1356 1382)
  ("(energy(agent1) down)" 1382 1433)
  ("(energy(agent1) stable)" 1433 1481)
  ("(energy(agent1) down)" 1481 1532)
  ("(energy(agent1) stable)" 1532 1561)
  ("(energy(agent1) down)" 1561 1612)
  ("(energy(agent1) stable)" 1612 1657)
  ("(energy(agent1) down)" 1657 1708)
  ("(energy(agent1) stable)" 1708 1728)
  ("(energy(agent1) down)" 1728 1779)
  ("(energy(agent1) stable)" 1779 1801)
  ("(energy(agent1) down)" 1801 1852)
  ("(energy(agent1) stable)" 1852 1885)
  ("(energy(agent1) down)" 1885 1904)
  ("(arousal(agent1) 4)" 25 102)
  ("(arousal(agent1) 5)" 102 694)
  ("(arousal(agent1) 4)" 694 777)
  ("(arousal(agent1) 3)" 777 824)
  ("(arousal(agent1) 4)" 824 831)
  ("(arousal(agent1) 3)" 831 954)
  ("(arousal(agent1) 2)" 954 1068)
  ("(arousal(agent1) 1)" 1068 1904)
  ("(arousal(agent1) down)" 26 561)
  ("(arousal(agent1) stable)" 561 582)
  ("(arousal(agent1) up)" 582 638)
  ("(arousal(agent1) stable)" 638 660)
  ("(arousal(agent1) up)" 660 719)
  ("(arousal(agent1) stable)" 719 736)
  ("(arousal(agent1) up)" 736 787)
  ("(arousal(agent1) down)" 787 830)
  ("(arousal(agent1) up)" 830 881)
  ("(arousal(agent1) down)" 881 932)
  ("(arousal(agent1) up)" 932 983)
  ("(arousal(agent1) down)" 983 1000)
  ("(arousal(agent1) stable)" 1000 1020)
  ("(arousal(agent1) up)" 1020 1089)
  ("(arousal(agent1) stable)" 1089 1099)
  ("(arousal(agent1) down)" 1099 1132)
  ("(arousal(agent1) stable)" 1132 1183)
  ("(arousal(agent1) down)" 1183 1222)
  ("(arousal(agent1) up)" 1222 1273)
  ("(arousal(agent1) down)" 1273 1304)
  ("(arousal(agent1) stable)" 1304 1305)
  ("(arousal(agent1) up)" 1305 1306)
  ("(arousal(agent1) stable)" 1306 1307)
  ("(arousal(agent1) up)" 1307 1308)
  ("(arousal(agent1) stable)" 1308 1309)
  ("(arousal(agent1) up)" 1309 1310)
  ("(arousal(agent1) stable)" 1310 1311)
  ("(arousal(agent1) up)" 1311 1312)
  ("(arousal(agent1) stable)" 1312 1313)
  ("(arousal(agent1) up)" 1313 1314)
  ("(arousal(agent1) stable)" 1314 1315)
  ("(arousal(agent1) up)" 1315 1316)
  ("(arousal(agent1) stable)" 1316 1317)
  ("(arousal(agent1) up)" 1317 1318)
  ("(arousal(agent1) stable)" 1318 1319)
  ("(arousal(agent1) up)" 1319 1320)
  ("(arousal(agent1) stable)" 1320 1321)
  ("(arousal(agent1) up)" 1321 1322)
  ("(arousal(agent1) stable)" 1322 1323)
  ("(arousal(agent1) up)" 1323 1324)
  ("(arousal(agent1) stable)" 1324 1325)
  ("(arousal(agent1) up)" 1325 1326)
  ("(arousal(agent1) stable)" 1326 1327)
  ("(arousal(agent1) up)" 1327 1328)
  ("(arousal(agent1) stable)" 1328 1329)
  ("(arousal(agent1) up)" 1329 1330)
  ("(arousal(agent1) stable)" 1330 1331)
  ("(arousal(agent1) up)" 1331 1332)
  ("(arousal(agent1) stable)" 1332 1333)
  ("(arousal(agent1) up)" 1333 1334)
  ("(arousal(agent1) stable)" 1334 1335)
  ("(arousal(agent1) up)" 1335 1336)
  ("(arousal(agent1) stable)" 1336 1337)
  ("(arousal(agent1) up)" 1337 1338)
  ("(arousal(agent1) stable)" 1338 1339)
  ("(arousal(agent1) up)" 1339 1340)
  ("(arousal(agent1) stable)" 1340 1341)
  ("(arousal(agent1) up)" 1341 1342)
  ("(arousal(agent1) stable)" 1342 1343)
  ("(arousal(agent1) up)" 1343 1344)
  ("(arousal(agent1) stable)" 1344 1345)
  ("(arousal(agent1) up)" 1345 1346)
  ("(arousal(agent1) stable)" 1346 1347)
  ("(arousal(agent1) up)" 1347 1348)
  ("(arousal(agent1) stable)" 1348 1349)
  ("(arousal(agent1) up)" 1349 1350)
  ("(arousal(agent1) stable)" 1350 1351)
  ("(arousal(agent1) up)" 1351 1352)
  ("(arousal(agent1) stable)" 1352 1353)
  ("(arousal(agent1) up)" 1353 1354)
  ("(arousal(agent1) stable)" 1354 1355)
  ("(arousal(agent1) down)" 1355 1381)
  ("(arousal(agent1) stable)" 1381 1432)
  ("(arousal(agent1) down)" 1432 1480)
  ("(arousal(agent1) up)" 1480 1531)
  ("(arousal(agent1) down)" 1531 1560)
  ("(arousal(agent1) stable)" 1560 1611)
  ("(arousal(agent1) down)" 1611 1656)
  ("(arousal(agent1) up)" 1656 1707)
  ("(arousal(agent1) down)" 1707 1727)
  ("(arousal(agent1) stable)" 1727 1778)
  ("(arousal(agent1) down)" 1778 1800)
  ("(arousal(agent1) stable)" 1800 1851)
  ("(arousal(agent1) down)" 1851 1884)
  ("(arousal(agent1) up)" 1884 1904)
  ("(valence(agent1) 5)" 25 676)
  ("(valence(agent1) 4)" 676 696)
  ("(valence(agent1) 3)" 696 746)
  ("(valence(agent1) 2)" 746 1904)
  ("(valence(agent1) stable)" 26 660)
  ("(valence(agent1) up)" 660 711)
  ("(valence(agent1) down)" 711 736)
  ("(valence(agent1) up)" 736 787)
  ("(valence(agent1) down)" 787 830)
  ("(valence(agent1) up)" 830 881)
  ("(valence(agent1) down)" 881 932)
  ("(valence(agent1) up)" 932 983)
  ("(valence(agent1) down)" 983 1038)
  ("(valence(agent1) up)" 1038 1089)
  ("(valence(agent1) down)" 1089 1132)
  ("(valence(agent1) up)" 1132 1183)
  ("(valence(agent1) down)" 1183 1222)
  ("(valence(agent1) up)" 1222 1273)
  ("(valence(agent1) down)" 1273 1304)
  ("(valence(agent1) up)" 1304 1355)
  ("(valence(agent1) down)" 1355 1381)
  ("(valence(agent1) up)" 1381 1432)
  ("(valence(agent1) down)" 1432 1480)
  ("(valence(agent1) up)" 1480 1531)
  ("(valence(agent1) down)" 1531 1560)
  ("(valence(agent1) up)" 1560 1611)
  ("(valence(agent1) down)" 1611 1656)
  ("(valence(agent1) up)" 1656 1707)
  ("(valence(agent1) down)" 1707 1727)
  ("(valence(agent1) stable)" 1727 1778)
  ("(valence(agent1) down)" 1778 1800)
  ("(valence(agent1) stable)" 1800 1851)
  ("(valence(agent1) down)" 1851 1884)
  ("(valence(agent1) up)" 1884 1904)
  ("(goal(agent1) WanderGoal)" 0 580)
  ("(goal(agent1) PursueGoal)" 580 1929)
  ("(state(agent1) wander)" 0 580)
  ("(state(agent1) charge)" 580 684)
  ("(state(agent1) back-away)" 684 704)
  ("(state(agent1) charge)" 704 760)
  ("(state(agent1) back-away)" 760 789)
  ("(state(agent1) charge)" 789 854)
  ("(state(agent1) back-away)" 854 885)
  ("(state(agent1) charge)" 885 956)
  ("(state(agent1) back-away)" 956 989)
  ("(state(agent1) charge)" 989 1062)
  ("(state(agent1) back-away)" 1062 1090)
  ("(state(agent1) charge)" 1090 1157)
  ("(state(agent1) back-away)" 1157 1183)
  ("(state(agent1) charge)" 1183 1246)
  ("(state(agent1) back-away)" 1246 1269)
  ("(state(agent1) charge)" 1269 1328)
  ("(state(agent1) back-away)" 1328 1350)
  ("(state(agent1) charge)" 1350 1405)
  ("(state(agent1) back-away)" 1405 1436)
  ("(state(agent1) charge)" 1436 1505)
  ("(state(agent1) back-away)" 1505 1528)
  ("(state(agent1) charge)" 1528 1584)
  ("(state(agent1) back-away)" 1584 1617)
  ("(state(agent1) charge)" 1617 1680)
  ("(state(agent1) back-away)" 1680 1699)
  ("(state(agent1) charge)" 1699 1751)
  ("(state(agent1) back-away)" 1751 1771)
  ("(state(agent1) charge)" 1771 1825)
  ("(state(agent1) back-away)" 1825 1850)
  ("(state(agent1) charge)" 1850 1908)
  ("(state(agent1) back-away)" 1908 1929)
  ("(x(agent2) 5)" 604 662)
  ("(x(agent2) 4)" 662 669)
  ("(x(agent2) 3)" 669 676)
  ("(x(agent2) 2)" 676 694)
  ("(x(agent2) 1)" 694 702)
  ("(x(agent2) 2)" 702 789)
  ("(x(agent2) 3)" 789 835)
  ("(x(agent2) 2)" 835 879)
  ("(x(agent2) 3)" 879 893)
  ("(x(agent2) 4)" 893 928)
  ("(x(agent2) 3)" 928 943)
  ("(x(agent2) 2)" 943 977)
  ("(x(agent2) 3)" 977 990)
  ("(x(agent2) 4)" 990 1038)
  ("(x(agent2) 3)" 1038 1052)
  ("(x(agent2) 2)" 1052 1084)
  ("(x(agent2) 3)" 1084 1101)
  ("(x(agent2) 4)" 1101 1127)
  ("(x(agent2) 3)" 1127 1143)
  ("(x(agent2) 2)" 1143 1182)
  ("(x(agent2) 3)" 1182 1229)
  ("(x(agent2) 2)" 1229 1274)
  ("(x(agent2) 3)" 1274 1307)
  ("(x(agent2) 2)" 1307 1357)
  ("(x(agent2) 3)" 1357 1384)
  ("(x(agent2) 2)" 1384 1426)
  ("(x(agent2) 3)" 1426 1441)
  ("(x(agent2) 4)" 1441 1478)
  ("(x(agent2) 3)" 1478 1493)
  ("(x(agent2) 2)" 1493 1532)
  ("(x(agent2) 3)" 1532 1564)
  ("(x(agent2) 2)" 1564 1605)
  ("(x(agent2) 3)" 1605 1619)
  ("(x(agent2) 4)" 1619 1657)
  ("(x(agent2) 3)" 1657 1672)
  ("(x(agent2) 2)" 1672 1708)
  ("(x(agent2) 3)" 1708 1729)
  ("(x(agent2) 2)" 1729 1780)
  ("(x(agent2) 3)" 1780 1800)
  ("(x(agent2) 2)" 1800 1849)
  ("(x(agent2) 3)" 1849 1892)
  ("(x(agent2) 2)" 1892 1904)
  ("(x(agent2) up)" 605 698)
  ("(x(agent2) stable)" 698 699)
  ("(x(agent2) down)" 699 727)
  ("(x(agent2) stable)" 727 728)
  ("(x(agent2) up)" 728 760)
  ("(x(agent2) stable)" 760 761)
  ("(x(agent2) down)" 761 813)
  ("(x(agent2) stable)" 813 814)
  ("(x(agent2) up)" 814 859)
  ("(x(agent2) stable)" 859 860)
  ("(x(agent2) down)" 860 911)
  ("(x(agent2) stable)" 911 912)
  ("(x(agent2) up)" 912 961)
  ("(x(agent2) stable)" 961 962)
  ("(x(agent2) down)" 962 1015)
  ("(x(agent2) up)" 1015 1068)
  ("(x(agent2) stable)" 1068 1069)
  ("(x(agent2) down)" 1069 1114)
  ("(x(agent2) stable)" 1114 1115)
  ("(x(agent2) up)" 1115 1162)
  ("(x(agent2) stable)" 1162 1163)
  ("(x(agent2) down)" 1163 1206)
  ("(x(agent2) stable)" 1206 1207)
  ("(x(agent2) up)" 1207 1250)
  ("(x(agent2) stable)" 1250 1252)
  ("(x(agent2) down)" 1252 1291)
  ("(x(agent2) stable)" 1291 1292)
  ("(x(agent2) up)" 1292 1331)
  ("(x(agent2) stable)" 1331 1332)
  ("(x(agent2) down)" 1332 1371)
  ("(x(agent2) stable)" 1371 1372)
  ("(x(agent2) up)" 1372 1407)
  ("(x(agent2) stable)" 1407 1409)
  ("(x(agent2) down)" 1409 1460)
  ("(x(agent2) stable)" 1460 1461)
  ("(x(agent2) up)" 1461 1511)
  ("(x(agent2) stable)" 1511 1513)
  ("(x(agent2) down)" 1513 1549)
  ("(x(agent2) stable)" 1549 1550)
  ("(x(agent2) up)" 1550 1587)
  ("(x(agent2) stable)" 1587 1588)
  ("(x(agent2) down)" 1588 1639)
  ("(x(agent2) stable)" 1639 1640)
  ("(x(agent2) up)" 1640 1689)
  ("(x(agent2) stable)" 1689 1690)
  ("(x(agent2) down)" 1690 1719)
  ("(x(agent2) stable)" 1719 1720)
  ("(x(agent2) up)" 1720 1754)
  ("(x(agent2) stable)" 1754 1755)
  ("(x(agent2) down)" 1755 1791)
  ("(x(agent2) stable)" 1791 1792)
  ("(x(agent2) up)" 1792 1827)
  ("(x(agent2) stable)" 1827 1828)
  ("(x(agent2) down)" 1828 1871)
  ("(x(agent2) stable)" 1871 1872)
  ("(x(agent2) up)" 1872 1904)
  ("(y(agent2) 5)" 604 712)
  ("(y(agent2) 4)" 712 755)
  ("(y(agent2) 5)" 755 799)
  ("(y(agent2) 4)" 799 867)
  ("(y(agent2) 3)" 867 945)
  ("(y(agent2) 4)" 945 987)
  ("(y(agent2) 3)" 987 1140)
  ("(y(agent2) 4)" 1140 1190)
  ("(y(agent2) 3)" 1190 1230)
  ("(y(agent2) 4)" 1230 1267)
  ("(y(agent2) 3)" 1267 1305)
  ("(y(agent2) 4)" 1305 1364)
  ("(y(agent2) 3)" 1364 1380)
  ("(y(agent2) 4)" 1380 1420)
  ("(y(agent2) 3)" 1420 1450)
  ("(y(agent2) 2)" 1450 1477)
  ("(y(agent2) 3)" 1477 1536)
  ("(y(agent2) 2)" 1536 1577)
  ("(y(agent2) 3)" 1577 1586)
  ("(y(agent2) 2)" 1586 1617)
  ("(y(agent2) 1)" 1617 1904)
  ("(y(agent2) up)" 605 651)
  ("(y(agent2) stable)" 651 655)
  ("(y(agent2) down)" 655 661)
  ("(y(agent2) stable)" 661 662)
  ("(y(agent2) up)" 662 730)
  ("(y(agent2) stable)" 730 731)
  ("(y(agent2) down)" 731 776)
  ("(y(agent2) stable)" 776 777)
  ("(y(agent2) up)" 777 906)
  ("(y(agent2) stable)" 906 908)
  ("(y(agent2) down)" 908 965)
  ("(y(agent2) stable)" 965 967)
  ("(y(agent2) up)" 967 1019)
  ("(y(agent2) stable)" 1019 1022)
  ("(y(agent2) down)" 1022 1063)
  ("(y(agent2) stable)" 1063 1067)
  ("(y(agent2) up)" 1067 1107)
  ("(y(agent2) stable)" 1107 1110)
  ("(y(agent2) down)" 1110 1163)
  ("(y(agent2) stable)" 1163 1166)
  ("(y(agent2) up)" 1166 1209)
  ("(y(agent2) stable)" 1209 1211)
  ("(y(agent2) down)" 1211 1246)
  ("(y(agent2) stable)" 1246 1251)
  ("(y(agent2) up)" 1251 1287)
  ("(y(agent2) stable)" 1287 1290)
  ("(y(agent2) down)" 1290 1331)
  ("(y(agent2) stable)" 1331 1335)
  ("(y(agent2) up)" 1335 1371)
  ("(y(agent2) stable)" 1371 1374)
  ("(y(agent2) down)" 1374 1402)
  ("(y(agent2) stable)" 1402 1405)
  ("(y(agent2) up)" 1405 1463)
  ("(y(agent2) stable)" 1463 1465)
  ("(y(agent2) down)" 1465 1506)
  ("(y(agent2) stable)" 1506 1508)
  ("(y(agent2) up)" 1508 1553)
  ("(y(agent2) stable)" 1553 1554)
  ("(y(agent2) down)" 1554 1581)
  ("(y(agent2) stable)" 1581 1583)
  ("(y(agent2) up)" 1583 1643)
  ("(y(agent2) stable)" 1643 1645)
  ("(y(agent2) down)" 1645 1681)
  ("(y(agent2) stable)" 1681 1684)
  ("(y(agent2) up)" 1684 1723)
  ("(y(agent2) stable)" 1723 1725)
  ("(y(agent2) down)" 1725 1746)
  ("(y(agent2) stable)" 1746 1748)
  ("(y(agent2) up)" 1748 1796)
  ("(y(agent2) stable)" 1796 1797)
  ("(y(agent2) down)" 1797 1821)
  ("(y(agent2) stable)" 1821 1824)
  ("(y(agent2) up)" 1824 1874)
  ("(y(agent2) stable)" 1874 1876)
  ("(y(agent2) down)" 1876 1904)
  ("(speed(agent2) 1)" 604 698)
  ("(speed(agent2) 2)" 698 703)
  ("(speed(agent2) 3)" 703 708)
  ("(speed(agent2) 4)" 708 758)
  ("(speed(agent2) 3)" 758 785)
  ("(speed(agent2) 4)" 785 837)
  ("(speed(agent2) 3)" 837 856)
  ("(speed(agent2) 2)" 856 874)
  ("(speed(agent2) 3)" 874 889)
  ("(speed(agent2) 4)" 889 930)
  ("(speed(agent2) 3)" 930 950)
  ("(speed(agent2) 2)" 950 979)
  ("(speed(agent2) 3)" 979 995)
  ("(speed(agent2) 4)" 995 1033)
  ("(speed(agent2) 3)" 1033 1049)
  ("(speed(agent2) 2)" 1049 1079)
  ("(speed(agent2) 3)" 1079 1087)
  ("(speed(agent2) 4)" 1087 1138)
  ("(speed(agent2) 3)" 1138 1176)
  ("(speed(agent2) 4)" 1176 1234)
  ("(speed(agent2) 3)" 1234 1263)
  ("(speed(agent2) 4)" 1263 1322)
  ("(speed(agent2) 3)" 1322 1342)
  ("(speed(agent2) 4)" 1342 1402)
  ("(speed(agent2) 3)" 1402 1432)
  ("(speed(agent2) 4)" 1432 1479)
  ("(speed(agent2) 3)" 1479 1521)
  ("(speed(agent2) 4)" 1521 1579)
  ("(speed(agent2) 3)" 1579 1595)
  ("(speed(agent2) 2)" 1595 1603)
  ("(speed(agent2) 3)" 1603 1624)
  ("(speed(agent2) 4)" 1624 1649)
  ("(speed(agent2) 3)" 1649 1665)
  ("(speed(agent2) 2)" 1665 1692)
  ("(speed(agent2) 3)" 1692 1700)
  ("(speed(agent2) 4)" 1700 1743)
  ("(speed(agent2) 3)" 1743 1768)
  ("(speed(agent2) 4)" 1768 1815)
  ("(speed(agent2) 3)" 1815 1827)
  ("(speed(agent2) 2)" 1827 1838)
  ("(speed(agent2) 3)" 1838 1847)
  ("(speed(agent2) 4)" 1847 1883)
  ("(speed(agent2) 3)" 1883 1885)
  ("(speed(agent2) 4)" 1885 1889)
  ("(speed(agent2) 3)" 1889 1903)
  ("(speed(agent2) 2)" 1903 1904)
  ("(speed(agent2) up)" 605 660)
  ("(speed(agent2) down)" 660 732)
  ("(speed(agent2) stable)" 732 733)
  ("(speed(agent2) up)" 733 736)
  ("(speed(agent2) down)" 736 741)
  ("(speed(agent2) stable)" 741 742)
  ("(speed(agent2) up)" 742 772)
  ("(speed(agent2) down)" 772 818)
  ("(speed(agent2) up)" 818 830)
  ("(speed(agent2) stable)" 830 831)
  ("(speed(agent2) up)" 831 866)
  ("(speed(agent2) down)" 866 916)
  ("(speed(agent2) up)" 916 968)
  ("(speed(agent2) down)" 968 1019)
  ("(speed(agent2) stable)" 1019 1020)
  ("(speed(agent2) up)" 1020 1069)
  ("(speed(agent2) down)" 1069 1119)
  ("(speed(agent2) up)" 1119 1162)
  ("(speed(agent2) stable)" 1162 1163)
  ("(speed(agent2) down)" 1163 1211)
  ("(speed(agent2) up)" 1211 1222)
  ("(speed(agent2) down)" 1222 1223)
  ("(speed(agent2) up)" 1223 1250)
  ("(speed(agent2) stable)" 1250 1251)
  ("(speed(agent2) down)" 1251 1273)
  ("(speed(agent2) up)" 1273 1279)
  ("(speed(agent2) stable)" 1279 1297)
  ("(speed(agent2) up)" 1297 1304)
  ("(speed(agent2) down)" 1304 1307)
  ("(speed(agent2) stable)" 1307 1308)
  ("(speed(agent2) up)" 1308 1332)
  ("(speed(agent2) stable)" 1332 1333)
  ("(speed(agent2) down)" 1333 1355)
  ("(speed(agent2) up)" 1355 1381)
  ("(speed(agent2) down)" 1381 1386)
  ("(speed(agent2) up)" 1386 1418)
  ("(speed(agent2) stable)" 1418 1419)
  ("(speed(agent2) down)" 1419 1465)
  ("(speed(agent2) stable)" 1465 1466)
  ("(speed(agent2) up)" 1466 1507)
  ("(speed(agent2) stable)" 1507 1508)
  ("(speed(agent2) down)" 1508 1531)
  ("(speed(agent2) stable)" 1531 1532)
  ("(speed(agent2) up)" 1532 1560)
  ("(speed(agent2) down)" 1560 1564)
  ("(speed(agent2) stable)" 1564 1565)
  ("(speed(agent2) up)" 1565 1599)
  ("(speed(agent2) down)" 1599 1636)
  ("(speed(agent2) stable)" 1636 1645)
  ("(speed(agent2) up)" 1645 1656)
  ("(speed(agent2) down)" 1656 1657)
  ("(speed(agent2) up)" 1657 1680)
  ("(speed(agent2) stable)" 1680 1681)
  ("(speed(agent2) down)" 1681 1707)
  ("(speed(agent2) up)" 1707 1727)
  ("(speed(agent2) down)" 1727 1734)
  ("(speed(agent2) up)" 1734 1756)
  ("(speed(agent2) down)" 1756 1778)
  ("(speed(agent2) up)" 1778 1800)
  ("(speed(agent2) down)" 1800 1807)
  ("(speed(agent2) up)" 1807 1833)
  ("(speed(agent2) down)" 1833 1852)
  ("(speed(agent2) up)" 1852 1884)
  ("(speed(agent2) down)" 1884 1887)
  ("(speed(agent2) stable)" 1887 1888)
  ("(speed(agent2) up)" 1888 1904)
  ("(heading(agent2) 1)" 629 644)
  ("(heading(agent2) 2)" 644 650)
  ("(heading(agent2) 3)" 650 655)
  ("(heading(agent2) 4)" 655 660)
  ("(heading(agent2) 5)" 660 756)
  ("(heading(agent2) 4)" 756 761)
  ("(heading(agent2) 3)" 761 766)
  ("(heading(agent2) 2)" 766 774)
  ("(heading(agent2) 1)" 774 841)
  ("(heading(agent2) 2)" 841 855)
  ("(heading(agent2) 3)" 855 929)
  ("(heading(agent2) 2)" 929 940)
  ("(heading(agent2) 1)" 940 1043)
  ("(heading(agent2) 2)" 1043 1344)
  ("(heading(agent2) 3)" 1344 1421)
  ("(heading(agent2) 4)" 1421 1838)
  ("(heading(agent2) 3)" 1838 1879)
  ("(heading(agent2) down)" 630 707)
  ("(heading(agent2) stable)" 707 721)
  ("(heading(agent2) up)" 721 808)
  ("(heading(agent2) stable)" 808 817)
  ("(heading(agent2) down)" 817 857)
  ("(heading(agent2) stable)" 857 871)
  ("(heading(agent2) down)" 871 881)
  ("(heading(agent2) stable)" 881 915)
  ("(heading(agent2) up)" 915 953)
  ("(heading(agent2) stable)" 953 975)
  ("(heading(agent2) up)" 975 982)
  ("(heading(agent2) stable)" 982 1023)
  ("(heading(agent2) down)" 1023 1054)
  ("(heading(agent2) stable)" 1054 1226)
  ("(heading(agent2) down)" 1226 1235)
  ("(heading(agent2) stable)" 1235 1659)
  ("(heading(agent2) up)" 1659 1662)
  ("(heading(agent2) stable)" 1662 1879)
  ("heard(agent1 agent2)" 1017 1929)
  ("heard(agent1 agent2)" 664 1009)
  ("novel(agent1 agent2)" 1018 1093)
  ("novel(agent1 agent2)" 665 718)
  ("novel(agent1 agent2)" 580 639)
  ("collision(agent1 agent2)" 1908 1911)
  ("collision(agent1 agent2)" 1825 1827)
  ("collision(agent1 agent2)" 1751 1753)
  ("collision(agent1 agent2)" 1680 1682)
  ("collision(agent1 agent2)" 1584 1586)
  ("collision(agent1 agent2)" 1505 1506)
  ("collision(agent1 agent2)" 1405 1408)
  ("collision(agent1 agent2)" 1328 1331)
  ("collision(agent1 agent2)" 1246 1248)
  ("collision(agent1 agent2)" 1157 1158)
  ("collision(agent1 agent2)" 1062 1065)
  ("collision(agent1 agent2)" 956 959)
  ("collision(agent1 agent2)" 854 857)
  ("collision(agent1 agent2)" 760 763)
  ("collision(agent1 agent2)" 684 687)
  ("(distance(agent1 agent2) 1)" 604 665)
  ("(distance(agent1 agent2) 2)" 665 674)
  ("(distance(agent1 agent2) 3)" 674 685)
  ("(distance(agent1 agent2) 4)" 685 713)
  ("(distance(agent1 agent2) 3)" 713 735)
  ("(distance(agent1 agent2) 4)" 735 785)
  ("(distance(agent1 agent2) 3)" 785 807)
  ("(distance(agent1 agent2) 2)" 807 818)
  ("(distance(agent1 agent2) 3)" 818 838)
  ("(distance(agent1 agent2) 4)" 838 877)
  ("(distance(agent1 agent2) 3)" 877 892)
  ("(distance(agent1 agent2) 2)" 892 928)
  ("(distance(agent1 agent2) 3)" 928 943)
  ("(distance(agent1 agent2) 4)" 943 978)
  ("(distance(agent1 agent2) 3)" 978 992)
  ("(distance(agent1 agent2) 2)" 992 1036)
  ("(distance(agent1 agent2) 3)" 1036 1050)
  ("(distance(agent1 agent2) 4)" 1050 1086)
  ("(distance(agent1 agent2) 3)" 1086 1105)
  ("(distance(agent1 agent2) 2)" 1105 1122)
  ("(distance(agent1 agent2) 3)" 1122 1141)
  ("(distance(agent1 agent2) 4)" 1141 1184)
  ("(distance(agent1 agent2) 3)" 1184 1226)
  ("(distance(agent1 agent2) 4)" 1226 1277)
  ("(distance(agent1 agent2) 3)" 1277 1304)
  ("(distance(agent1 agent2) 4)" 1304 1362)
  ("(distance(agent1 agent2) 3)" 1362 1379)
  ("(distance(agent1 agent2) 4)" 1379 1429)
  ("(distance(agent1 agent2) 3)" 1429 1446)
  ("(distance(agent1 agent2) 2)" 1446 1474)
  ("(distance(agent1 agent2) 3)" 1474 1490)
  ("(distance(agent1 agent2) 4)" 1490 1535)
  ("(distance(agent1 agent2) 3)" 1535 1561)
  ("(distance(agent1 agent2) 4)" 1561 1607)
  ("(distance(agent1 agent2) 3)" 1607 1622)
  ("(distance(agent1 agent2) 2)" 1622 1655)
  ("(distance(agent1 agent2) 3)" 1655 1670)
  ("(distance(agent1 agent2) 4)" 1670 1710)
  ("(distance(agent1 agent2) 3)" 1710 1727)
  ("(distance(agent1 agent2) 4)" 1727 1781)
  ("(distance(agent1 agent2) 3)" 1781 1800)
  ("(distance(agent1 agent2) 4)" 1800 1850)
  ("(distance(agent1 agent2) 3)" 1850 1892)
  ("(distance(agent1 agent2) 4)" 1892 1904)
  ("(distance(agent1 agent2) down)" 605 698)
  ("(distance(agent1 agent2) stable)" 698 699)
  ("(distance(agent1 agent2) up)" 699 724)
  ("(distance(agent1 agent2) stable)" 724 725)
  ("(distance(agent1 agent2) down)" 725 762)
  ("(distance(agent1 agent2) stable)" 762 764)
  ("(distance(agent1 agent2) up)" 764 812)
  ("(distance(agent1 agent2) stable)" 812 813)
  ("(distance(agent1 agent2) down)" 813 859)
  ("(distance(agent1 agent2) stable)" 859 860)
  ("(distance(agent1 agent2) up)" 860 910)
  ("(distance(agent1 agent2) stable)" 910 911)
  ("(distance(agent1 agent2) down)" 911 961)
  ("(distance(agent1 agent2) stable)" 961 962)
  ("(distance(agent1 agent2) up)" 962 1014)
  ("(distance(agent1 agent2) stable)" 1014 1015)
  ("(distance(agent1 agent2) down)" 1015 1068)
  ("(distance(agent1 agent2) stable)" 1068 1069)
  ("(distance(agent1 agent2) up)" 1069 1114)
  ("(distance(agent1 agent2) stable)" 1114 1115)
  ("(distance(agent1 agent2) down)" 1115 1162)
  ("(distance(agent1 agent2) stable)" 1162 1163)
  ("(distance(agent1 agent2) up)" 1163 1206)
  ("(distance(agent1 agent2) stable)" 1206 1207)
  ("(distance(agent1 agent2) down)" 1207 1250)
  ("(distance(agent1 agent2) stable)" 1250 1252)
  ("(distance(agent1 agent2) up)" 1252 1291)
  ("(distance(agent1 agent2) stable)" 1291 1292)
  ("(distance(agent1 agent2) down)" 1292 1331)
  ("(distance(agent1 agent2) stable)" 1331 1333)
  ("(distance(agent1 agent2) up)" 1333 1371)
  ("(distance(agent1 agent2) stable)" 1371 1372)
  ("(distance(agent1 agent2) down)" 1372 1407)
  ("(distance(agent1 agent2) stable)" 1407 1409)
  ("(distance(agent1 agent2) up)" 1409 1460)
  ("(distance(agent1 agent2) stable)" 1460 1461)
  ("(distance(agent1 agent2) down)" 1461 1511)
  ("(distance(agent1 agent2) stable)" 1511 1513)
  ("(distance(agent1 agent2) up)" 1513 1549)
  ("(distance(agent1 agent2) stable)" 1549 1550)
  ("(distance(agent1 agent2) down)" 1550 1587)
  ("(distance(agent1 agent2) stable)" 1587 1588)
  ("(distance(agent1 agent2) up)" 1588 1639)
  ("(distance(agent1 agent2) stable)" 1639 1640)
  ("(distance(agent1 agent2) down)" 1640 1688)
  ("(distance(agent1 agent2) stable)" 1688 1690)
  ("(distance(agent1 agent2) up)" 1690 1719)
  ("(distance(agent1 agent2) stable)" 1719 1720)
  ("(distance(agent1 agent2) down)" 1720 1753)
  ("(distance(agent1 agent2) stable)" 1753 1755)
  ("(distance(agent1 agent2) up)" 1755 1791)
  ("(distance(agent1 agent2) stable)" 1791 1792)
  ("(distance(agent1 agent2) down)" 1792 1826)
  ("(distance(agent1 agent2) stable)" 1826 1828)
  ("(distance(agent1 agent2) up)" 1828 1871)
  ("(distance(agent1 agent2) stable)" 1871 1873)
  ("(distance(agent1 agent2) down)" 1873 1904)
  ("(relativeX(agent1 agent2) 1)" 604 666)
  ("(relativeX(agent1 agent2) 2)" 666 674)
  ("(relativeX(agent1 agent2) 3)" 674 684)
  ("(relativeX(agent1 agent2) 4)" 684 720)
  ("(relativeX(agent1 agent2) 3)" 720 731)
  ("(relativeX(agent1 agent2) 4)" 731 785)
  ("(relativeX(agent1 agent2) 3)" 785 805)
  ("(relativeX(agent1 agent2) 2)" 805 819)
  ("(relativeX(agent1 agent2) 3)" 819 839)
  ("(relativeX(agent1 agent2) 4)" 839 877)
  ("(relativeX(agent1 agent2) 3)" 877 892)
  ("(relativeX(agent1 agent2) 2)" 892 928)
  ("(relativeX(agent1 agent2) 3)" 928 943)
  ("(relativeX(agent1 agent2) 4)" 943 978)
  ("(relativeX(agent1 agent2) 3)" 978 992)
  ("(relativeX(agent1 agent2) 2)" 992 1036)
  ("(relativeX(agent1 agent2) 3)" 1036 1050)
  ("(relativeX(agent1 agent2) 4)" 1050 1086)
  ("(relativeX(agent1 agent2) 3)" 1086 1105)
  ("(relativeX(agent1 agent2) 2)" 1105 1122)
  ("(relativeX(agent1 agent2) 3)" 1122 1141)
  ("(relativeX(agent1 agent2) 4)" 1141 1184)
  ("(relativeX(agent1 agent2) 3)" 1184 1226)
  ("(relativeX(agent1 agent2) 4)" 1226 1277)
  ("(relativeX(agent1 agent2) 3)" 1277 1304)
  ("(relativeX(agent1 agent2) 4)" 1304 1361)
  ("(relativeX(agent1 agent2) 3)" 1361 1379)
  ("(relativeX(agent1 agent2) 4)" 1379 1429)
  ("(relativeX(agent1 agent2) 3)" 1429 1446)
  ("(relativeX(agent1 agent2) 2)" 1446 1474)
  ("(relativeX(agent1 agent2) 3)" 1474 1490)
  ("(relativeX(agent1 agent2) 4)" 1490 1535)
  ("(relativeX(agent1 agent2) 3)" 1535 1561)
  ("(relativeX(agent1 agent2) 4)" 1561 1607)
  ("(relativeX(agent1 agent2) 3)" 1607 1622)
  ("(relativeX(agent1 agent2) 2)" 1622 1655)
  ("(relativeX(agent1 agent2) 3)" 1655 1670)
  ("(relativeX(agent1 agent2) 4)" 1670 1710)
  ("(relativeX(agent1 agent2) 3)" 1710 1727)
  ("(relativeX(agent1 agent2) 4)" 1727 1781)
  ("(relativeX(agent1 agent2) 3)" 1781 1800)
  ("(relativeX(agent1 agent2) 4)" 1800 1850)
  ("(relativeX(agent1 agent2) 3)" 1850 1892)
  ("(relativeX(agent1 agent2) 4)" 1892 1904)
  ("(relativeX(agent1 agent2) down)" 605 699)
  ("(relativeX(agent1 agent2) stable)" 699 700)
  ("(relativeX(agent1 agent2) up)" 700 725)
  ("(relativeX(agent1 agent2) stable)" 725 726)
  ("(relativeX(agent1 agent2) down)" 726 761)
  ("(relativeX(agent1 agent2) stable)" 761 763)
  ("(relativeX(agent1 agent2) up)" 763 812)
  ("(relativeX(agent1 agent2) stable)" 812 813)
  ("(relativeX(agent1 agent2) down)" 813 859)
  ("(relativeX(agent1 agent2) stable)" 859 860)
  ("(relativeX(agent1 agent2) up)" 860 910)
  ("(relativeX(agent1 agent2) stable)" 910 911)
  ("(relativeX(agent1 agent2) down)" 911 961)
  ("(relativeX(agent1 agent2) stable)" 961 962)
  ("(relativeX(agent1 agent2) up)" 962 1014)
  ("(relativeX(agent1 agent2) stable)" 1014 1015)
  ("(relativeX(agent1 agent2) down)" 1015 1068)
  ("(relativeX(agent1 agent2) stable)" 1068 1069)
  ("(relativeX(agent1 agent2) up)" 1069 1114)
  ("(relativeX(agent1 agent2) stable)" 1114 1115)
  ("(relativeX(agent1 agent2) down)" 1115 1162)
  ("(relativeX(agent1 agent2) stable)" 1162 1163)
  ("(relativeX(agent1 agent2) up)" 1163 1206)
  ("(relativeX(agent1 agent2) stable)" 1206 1207)
  ("(relativeX(agent1 agent2) down)" 1207 1250)
  ("(relativeX(agent1 agent2) stable)" 1250 1252)
  ("(relativeX(agent1 agent2) up)" 1252 1291)
  ("(relativeX(agent1 agent2) stable)" 1291 1292)
  ("(relativeX(agent1 agent2) down)" 1292 1331)
  ("(relativeX(agent1 agent2) stable)" 1331 1333)
  ("(relativeX(agent1 agent2) up)" 1333 1371)
  ("(relativeX(agent1 agent2) stable)" 1371 1372)
  ("(relativeX(agent1 agent2) down)" 1372 1407)
  ("(relativeX(agent1 agent2) stable)" 1407 1409)
  ("(relativeX(agent1 agent2) up)" 1409 1460)
  ("(relativeX(agent1 agent2) stable)" 1460 1461)
  ("(relativeX(agent1 agent2) down)" 1461 1511)
  ("(relativeX(agent1 agent2) stable)" 1511 1513)
  ("(relativeX(agent1 agent2) up)" 1513 1549)
  ("(relativeX(agent1 agent2) stable)" 1549 1550)
  ("(relativeX(agent1 agent2) down)" 1550 1587)
  ("(relativeX(agent1 agent2) stable)" 1587 1588)
  ("(relativeX(agent1 agent2) up)" 1588 1639)
  ("(relativeX(agent1 agent2) stable)" 1639 1640)
  ("(relativeX(agent1 agent2) down)" 1640 1688)
  ("(relativeX(agent1 agent2) stable)" 1688 1690)
  ("(relativeX(agent1 agent2) up)" 1690 1719)
  ("(relativeX(agent1 agent2) stable)" 1719 1720)
  ("(relativeX(agent1 agent2) down)" 1720 1753)
  ("(relativeX(agent1 agent2) stable)" 1753 1755)
  ("(relativeX(agent1 agent2) up)" 1755 1791)
  ("(relativeX(agent1 agent2) stable)" 1791 1792)
  ("(relativeX(agent1 agent2) down)" 1792 1826)
  ("(relativeX(agent1 agent2) stable)" 1826 1828)
  ("(relativeX(agent1 agent2) up)" 1828 1871)
  ("(relativeX(agent1 agent2) stable)" 1871 1873)
  ("(relativeX(agent1 agent2) down)" 1873 1904)
  ("(relativeY(agent1 agent2) 3)" 604 615)
  ("(relativeY(agent1 agent2) 4)" 615 658)
  ("(relativeY(agent1 agent2) 3)" 658 670)
  ("(relativeY(agent1 agent2) 4)" 670 679)
  ("(relativeY(agent1 agent2) 5)" 679 749)
  ("(relativeY(agent1 agent2) 4)" 749 753)
  ("(relativeY(agent1 agent2) 3)" 753 756)
  ("(relativeY(agent1 agent2) 2)" 756 761)
  ("(relativeY(agent1 agent2) 1)" 761 856)
  ("(relativeY(agent1 agent2) 2)" 856 869)
  ("(relativeY(agent1 agent2) 3)" 869 878)
  ("(relativeY(agent1 agent2) 4)" 878 888)
  ("(relativeY(agent1 agent2) 5)" 888 923)
  ("(relativeY(agent1 agent2) 4)" 923 932)
  ("(relativeY(agent1 agent2) 3)" 932 940)
  ("(relativeY(agent1 agent2) 2)" 940 950)
  ("(relativeY(agent1 agent2) 1)" 950 984)
  ("(relativeY(agent1 agent2) 2)" 984 998)
  ("(relativeY(agent1 agent2) 3)" 998 1038)
  ("(relativeY(agent1 agent2) 2)" 1038 1060)
  ("(relativeY(agent1 agent2) 1)" 1060 1067)
  ("(relativeY(agent1 agent2) 2)" 1067 1087)
  ("(relativeY(agent1 agent2) 3)" 1087 1100)
  ("(relativeY(agent1 agent2) 4)" 1100 1123)
  ("(relativeY(agent1 agent2) 3)" 1123 1135)
  ("(relativeY(agent1 agent2) 2)" 1135 1149)
  ("(relativeY(agent1 agent2) 1)" 1149 1179)
  ("(relativeY(agent1 agent2) 2)" 1179 1197)
  ("(relativeY(agent1 agent2) 3)" 1197 1218)
  ("(relativeY(agent1 agent2) 2)" 1218 1242)
  ("(relativeY(agent1 agent2) 1)" 1242 1253)
  ("(relativeY(agent1 agent2) 2)" 1253 1277)
  ("(relativeY(agent1 agent2) 3)" 1277 1301)
  ("(relativeY(agent1 agent2) 2)" 1301 1320)
  ("(relativeY(agent1 agent2) 1)" 1320 1345)
  ("(relativeY(agent1 agent2) 2)" 1345 1402)
  ("(relativeY(agent1 agent2) 1)" 1402 1408)
  ("(relativeY(agent1 agent2) 2)" 1408 1427)
  ("(relativeY(agent1 agent2) 3)" 1427 1435)
  ("(relativeY(agent1 agent2) 4)" 1435 1446)
  ("(relativeY(agent1 agent2) 5)" 1446 1474)
  ("(relativeY(agent1 agent2) 4)" 1474 1485)
  ("(relativeY(agent1 agent2) 3)" 1485 1495)
  ("(relativeY(agent1 agent2) 2)" 1495 1526)
  ("(relativeY(agent1 agent2) 3)" 1526 1539)
  ("(relativeY(agent1 agent2) 4)" 1539 1558)
  ("(relativeY(agent1 agent2) 3)" 1558 1572)
  ("(relativeY(agent1 agent2) 2)" 1572 1598)
  ("(relativeY(agent1 agent2) 3)" 1598 1607)
  ("(relativeY(agent1 agent2) 4)" 1607 1615)
  ("(relativeY(agent1 agent2) 5)" 1615 1662)
  ("(relativeY(agent1 agent2) 4)" 1662 1671)
  ("(relativeY(agent1 agent2) 3)" 1671 1707)
  ("(relativeY(agent1 agent2) 4)" 1707 1730)
  ("(relativeY(agent1 agent2) 3)" 1730 1746)
  ("(relativeY(agent1 agent2) 2)" 1746 1762)
  ("(relativeY(agent1 agent2) 3)" 1762 1779)
  ("(relativeY(agent1 agent2) 4)" 1779 1802)
  ("(relativeY(agent1 agent2) 3)" 1802 1815)
  ("(relativeY(agent1 agent2) 2)" 1815 1840)
  ("(relativeY(agent1 agent2) 3)" 1840 1851)
  ("(relativeY(agent1 agent2) 4)" 1851 1868)
  ("(relativeY(agent1 agent2) 5)" 1868 1874)
  ("(relativeY(agent1 agent2) 4)" 1874 1889)
  ("(relativeY(agent1 agent2) 3)" 1889 1900)
  ("(relativeY(agent1 agent2) 2)" 1900 1904)
  ("(relativeY(agent1 agent2) down)" 605 636)
  ("(relativeY(agent1 agent2) stable)" 636 638)
  ("(relativeY(agent1 agent2) up)" 638 664)
  ("(relativeY(agent1 agent2) stable)" 664 665)
  ("(relativeY(agent1 agent2) down)" 665 719)
  ("(relativeY(agent1 agent2) up)" 719 784)
  ("(relativeY(agent1 agent2) stable)" 784 785)
  ("(relativeY(agent1 agent2) down)" 785 829)
  ("(relativeY(agent1 agent2) stable)" 829 831)
  ("(relativeY(agent1 agent2) down)" 831 906)
  ("(relativeY(agent1 agent2) stable)" 906 907)
  ("(relativeY(agent1 agent2) up)" 907 967)
  ("(relativeY(agent1 agent2) stable)" 967 968)
  ("(relativeY(agent1 agent2) down)" 968 1018)
  ("(relativeY(agent1 agent2) stable)" 1018 1019)
  ("(relativeY(agent1 agent2) up)" 1019 1064)
  ("(relativeY(agent1 agent2) stable)" 1064 1065)
  ("(relativeY(agent1 agent2) down)" 1065 1112)
  ("(relativeY(agent1 agent2) stable)" 1112 1113)
  ("(relativeY(agent1 agent2) up)" 1113 1164)
  ("(relativeY(agent1 agent2) down)" 1164 1208)
  ("(relativeY(agent1 agent2) stable)" 1208 1209)
  ("(relativeY(agent1 agent2) up)" 1209 1248)
  ("(relativeY(agent1 agent2) stable)" 1248 1249)
  ("(relativeY(agent1 agent2) down)" 1249 1290)
  ("(relativeY(agent1 agent2) stable)" 1290 1291)
  ("(relativeY(agent1 agent2) up)" 1291 1332)
  ("(relativeY(agent1 agent2) stable)" 1332 1333)
  ("(relativeY(agent1 agent2) down)" 1333 1372)
  ("(relativeY(agent1 agent2) up)" 1372 1405)
  ("(relativeY(agent1 agent2) stable)" 1405 1406)
  ("(relativeY(agent1 agent2) down)" 1406 1461)
  ("(relativeY(agent1 agent2) up)" 1461 1510)
  ("(relativeY(agent1 agent2) stable)" 1510 1511)
  ("(relativeY(agent1 agent2) down)" 1511 1549)
  ("(relativeY(agent1 agent2) stable)" 1549 1550)
  ("(relativeY(agent1 agent2) up)" 1550 1586)
  ("(relativeY(agent1 agent2) stable)" 1586 1587)
  ("(relativeY(agent1 agent2) down)" 1587 1640)
  ("(relativeY(agent1 agent2) up)" 1640 1688)
  ("(relativeY(agent1 agent2) stable)" 1688 1689)
  ("(relativeY(agent1 agent2) down)" 1689 1719)
  ("(relativeY(agent1 agent2) stable)" 1719 1720)
  ("(relativeY(agent1 agent2) up)" 1720 1754)
  ("(relativeY(agent1 agent2) stable)" 1754 1755)
  ("(relativeY(agent1 agent2) down)" 1755 1791)
  ("(relativeY(agent1 agent2) stable)" 1791 1792)
  ("(relativeY(agent1 agent2) up)" 1792 1828)
  ("(relativeY(agent1 agent2) stable)" 1828 1829)
  ("(relativeY(agent1 agent2) down)" 1829 1871)
  ("(relativeY(agent1 agent2) stable)" 1871 1872)
  ("(relativeY(agent1 agent2) up)" 1872 1904)
  ("(x(wall2) 3)" 25 109)
  ("(x(wall2) stable)" 26 109)
  ("(y(wall2) 3)" 25 109)
  ("(y(wall2) stable)" 26 109)
  ("(speed(wall2) 3)" 25 109)
  ("(speed(wall2) stable)" 26 109)
  ("(heading(wall2) 3)" 50 84)
  ("(heading(wall2) stable)" 51 84)
  ("(distance(agent1 wall2) 5)" 25 48)
  ("(distance(agent1 wall2) 4)" 48 62)
  ("(distance(agent1 wall2) 3)" 62 74)
  ("(distance(agent1 wall2) 2)" 74 87)
  ("(distance(agent1 wall2) 1)" 87 109)
  ("(distance(agent1 wall2) up)" 26 109)
  ("(relativeX(agent1 wall2) 1)" 25 48)
  ("(relativeX(agent1 wall2) 2)" 48 62)
  ("(relativeX(agent1 wall2) 3)" 62 74)
  ("(relativeX(agent1 wall2) 4)" 74 87)
  ("(relativeX(agent1 wall2) 5)" 87 109)
  ("(relativeX(agent1 wall2) down)" 26 109)
  ("(relativeY(agent1 wall2) 1)" 25 48)
  ("(relativeY(agent1 wall2) 2)" 48 64)
  ("(relativeY(agent1 wall2) 3)" 64 75)
  ("(relativeY(agent1 wall2) 4)" 75 88)
  ("(relativeY(agent1 wall2) 5)" 88 109)
  ("(relativeY(agent1 wall2) down)" 26 109)
  ("(x(wall3) 3)" 25 1904)
  ("(x(wall3) stable)" 26 1904)
  ("(y(wall3) 3)" 25 1904)
  ("(y(wall3) stable)" 26 1904)
  ("(speed(wall3) 3)" 25 1904)
  ("(speed(wall3) stable)" 26 1904)
  ("(heading(wall3) 3)" 50 1879)
  ("(heading(wall3) stable)" 51 1879)
  ("collision(agent1 wall3)" 704 706)
  ("collision(agent1 wall3)" 359 368)
  ("(distance(agent1 wall3) 1)" 25 196)
  ("(distance(agent1 wall3) 2)" 196 233)
  ("(distance(agent1 wall3) 3)" 233 279)
  ("(distance(agent1 wall3) 4)" 279 778)
  ("(distance(agent1 wall3) 3)" 778 859)
  ("(distance(agent1 wall3) 4)" 859 945)
  ("(distance(agent1 wall3) 3)" 945 997)
  ("(distance(agent1 wall3) 4)" 997 1034)
  ("(distance(agent1 wall3) 3)" 1034 1089)
  ("(distance(agent1 wall3) 4)" 1089 1144)
  ("(distance(agent1 wall3) 3)" 1144 1184)
  ("(distance(agent1 wall3) 4)" 1184 1227)
  ("(distance(agent1 wall3) 3)" 1227 1268)
  ("(distance(agent1 wall3) 4)" 1268 1317)
  ("(distance(agent1 wall3) 3)" 1317 1348)
  ("(distance(agent1 wall3) 4)" 1348 1392)
  ("(distance(agent1 wall3) 3)" 1392 1420)
  ("(distance(agent1 wall3) 4)" 1420 1487)
  ("(distance(agent1 wall3) 3)" 1487 1904)
  ("(distance(agent1 wall3) down)" 26 358)
  ("(distance(agent1 wall3) stable)" 358 651)
  ("(distance(agent1 wall3) up)" 651 661)
  ("(distance(agent1 wall3) stable)" 661 673)
  ("(distance(agent1 wall3) down)" 673 697)
  ("(distance(agent1 wall3) stable)" 697 714)
  ("(distance(agent1 wall3) up)" 714 784)
  ("(distance(agent1 wall3) stable)" 784 861)
  ("(distance(agent1 wall3) down)" 861 892)
  ("(distance(agent1 wall3) stable)" 892 917)
  ("(distance(agent1 wall3) up)" 917 956)
  ("(distance(agent1 wall3) stable)" 956 982)
  ("(distance(agent1 wall3) down)" 982 994)
  ("(distance(agent1 wall3) stable)" 994 1033)
  ("(distance(agent1 wall3) up)" 1033 1045)
  ("(distance(agent1 wall3) stable)" 1045 1078)
  ("(distance(agent1 wall3) down)" 1078 1101)
  ("(distance(agent1 wall3) stable)" 1101 1129)
  ("(distance(agent1 wall3) up)" 1129 1145)
  ("(distance(agent1 wall3) stable)" 1145 1271)
  ("(distance(agent1 wall3) down)" 1271 1274)
  ("(distance(agent1 wall3) stable)" 1274 1424)
  ("(distance(agent1 wall3) down)" 1424 1443)
  ("(distance(agent1 wall3) stable)" 1443 1469)
  ("(distance(agent1 wall3) up)" 1469 1500)
  ("(distance(agent1 wall3) stable)" 1500 1556)
  ("(distance(agent1 wall3) up)" 1556 1576)
  ("(distance(agent1 wall3) stable)" 1576 1603)
  ("(distance(agent1 wall3) down)" 1603 1622)
  ("(distance(agent1 wall3) stable)" 1622 1643)
  ("(distance(agent1 wall3) up)" 1643 1682)
  ("(distance(agent1 wall3) stable)" 1682 1724)
  ("(distance(agent1 wall3) up)" 1724 1746)
  ("(distance(agent1 wall3) stable)" 1746 1795)
  ("(distance(agent1 wall3) up)" 1795 1821)
  ("(distance(agent1 wall3) stable)" 1821 1877)
  ("(distance(agent1 wall3) up)" 1877 1904)
  ("(relativeX(agent1 wall3) 1)" 25 425)
  ("(relativeX(agent1 wall3) 2)" 425 529)
  ("(relativeX(agent1 wall3) 3)" 529 616)
  ("(relativeX(agent1 wall3) 4)" 616 1904)
  ("(relativeX(agent1 wall3) down)" 26 692)
  ("(relativeX(agent1 wall3) stable)" 692 735)
  ("(relativeX(agent1 wall3) down)" 735 746)
  ("(relativeX(agent1 wall3) stable)" 746 775)
  ("(relativeX(agent1 wall3) up)" 775 801)
  ("(relativeX(agent1 wall3) stable)" 801 822)
  ("(relativeX(agent1 wall3) down)" 822 848)
  ("(relativeX(agent1 wall3) stable)" 848 869)
  ("(relativeX(agent1 wall3) up)" 869 900)
  ("(relativeX(agent1 wall3) stable)" 900 919)
  ("(relativeX(agent1 wall3) down)" 919 952)
  ("(relativeX(agent1 wall3) stable)" 952 971)
  ("(relativeX(agent1 wall3) up)" 971 1005)
  ("(relativeX(agent1 wall3) stable)" 1005 1024)
  ("(relativeX(agent1 wall3) down)" 1024 1059)
  ("(relativeX(agent1 wall3) stable)" 1059 1079)
  ("(relativeX(agent1 wall3) up)" 1079 1104)
  ("(relativeX(agent1 wall3) stable)" 1104 1124)
  ("(relativeX(agent1 wall3) down)" 1124 1151)
  ("(relativeX(agent1 wall3) stable)" 1151 1175)
  ("(relativeX(agent1 wall3) up)" 1175 1194)
  ("(relativeX(agent1 wall3) stable)" 1194 1217)
  ("(relativeX(agent1 wall3) down)" 1217 1237)
  ("(relativeX(agent1 wall3) stable)" 1237 1268)
  ("(relativeX(agent1 wall3) up)" 1268 1278)
  ("(relativeX(agent1 wall3) stable)" 1278 1302)
  ("(relativeX(agent1 wall3) down)" 1302 1315)
  ("(relativeX(agent1 wall3) stable)" 1315 1352)
  ("(relativeX(agent1 wall3) up)" 1352 1357)
  ("(relativeX(agent1 wall3) stable)" 1357 1383)
  ("(relativeX(agent1 wall3) down)" 1383 1388)
  ("(relativeX(agent1 wall3) stable)" 1388 1419)
  ("(relativeX(agent1 wall3) up)" 1419 1450)
  ("(relativeX(agent1 wall3) stable)" 1450 1470)
  ("(relativeX(agent1 wall3) down)" 1470 1500)
  ("(relativeX(agent1 wall3) stable)" 1500 1527)
  ("(relativeX(agent1 wall3) up)" 1527 1536)
  ("(relativeX(agent1 wall3) stable)" 1536 1559)
  ("(relativeX(agent1 wall3) down)" 1559 1570)
  ("(relativeX(agent1 wall3) stable)" 1570 1597)
  ("(relativeX(agent1 wall3) up)" 1597 1631)
  ("(relativeX(agent1 wall3) stable)" 1631 1647)
  ("(relativeX(agent1 wall3) down)" 1647 1676)
  ("(relativeX(agent1 wall3) stable)" 1676 1706)
  ("(relativeX(agent1 wall3) up)" 1706 1707)
  ("(relativeX(agent1 wall3) stable)" 1707 1776)
  ("(relativeX(agent1 wall3) up)" 1776 1779)
  ("(relativeX(agent1 wall3) stable)" 1779 1806)
  ("(relativeX(agent1 wall3) down)" 1806 1808)
  ("(relativeX(agent1 wall3) stable)" 1808 1840)
  ("(relativeX(agent1 wall3) up)" 1840 1862)
  ("(relativeX(agent1 wall3) stable)" 1862 1880)
  ("(relativeX(agent1 wall3) down)" 1880 1900)
  ("(relativeX(agent1 wall3) stable)" 1900 1904)
  ("(relativeY(agent1 wall3) 1)" 25 196)
  ("(relativeY(agent1 wall3) 2)" 196 233)
  ("(relativeY(agent1 wall3) 3)" 233 279)
  ("(relativeY(agent1 wall3) 4)" 279 778)
  ("(relativeY(agent1 wall3) 3)" 778 859)
  ("(relativeY(agent1 wall3) 4)" 859 945)
  ("(relativeY(agent1 wall3) 3)" 945 996)
  ("(relativeY(agent1 wall3) 4)" 996 1034)
  ("(relativeY(agent1 wall3) 3)" 1034 1089)
  ("(relativeY(agent1 wall3) 4)" 1089 1144)
  ("(relativeY(agent1 wall3) 3)" 1144 1184)
  ("(relativeY(agent1 wall3) 4)" 1184 1227)
  ("(relativeY(agent1 wall3) 3)" 1227 1268)
  ("(relativeY(agent1 wall3) 4)" 1268 1317)
  ("(relativeY(agent1 wall3) 3)" 1317 1348)
  ("(relativeY(agent1 wall3) 4)" 1348 1392)
  ("(relativeY(agent1 wall3) 3)" 1392 1420)
  ("(relativeY(agent1 wall3) 4)" 1420 1487)
  ("(relativeY(agent1 wall3) 3)" 1487 1904)
  ("(relativeY(agent1 wall3) down)" 26 358)
  ("(relativeY(agent1 wall3) stable)" 358 651)
  ("(relativeY(agent1 wall3) up)" 651 661)
  ("(relativeY(agent1 wall3) stable)" 661 673)
  ("(relativeY(agent1 wall3) down)" 673 697)
  ("(relativeY(agent1 wall3) stable)" 697 714)
  ("(relativeY(agent1 wall3) up)" 714 784)
  ("(relativeY(agent1 wall3) stable)" 784 861)
  ("(relativeY(agent1 wall3) down)" 861 892)
  ("(relativeY(agent1 wall3) stable)" 892 917)
  ("(relativeY(agent1 wall3) up)" 917 956)
  ("(relativeY(agent1 wall3) stable)" 956 982)
  ("(relativeY(agent1 wall3) down)" 982 994)
  ("(relativeY(agent1 wall3) stable)" 994 1033)
  ("(relativeY(agent1 wall3) up)" 1033 1045)
  ("(relativeY(agent1 wall3) stable)" 1045 1078)
  ("(relativeY(agent1 wall3) down)" 1078 1101)
  ("(relativeY(agent1 wall3) stable)" 1101 1129)
  ("(relativeY(agent1 wall3) up)" 1129 1145)
  ("(relativeY(agent1 wall3) stable)" 1145 1271)
  ("(relativeY(agent1 wall3) down)" 1271 1274)
  ("(relativeY(agent1 wall3) stable)" 1274 1424)
  ("(relativeY(agent1 wall3) down)" 1424 1443)
  ("(relativeY(agent1 wall3) stable)" 1443 1469)
  ("(relativeY(agent1 wall3) up)" 1469 1500)
  ("(relativeY(agent1 wall3) stable)" 1500 1556)
  ("(relativeY(agent1 wall3) up)" 1556 1576)
  ("(relativeY(agent1 wall3) stable)" 1576 1603)
  ("(relativeY(agent1 wall3) down)" 1603 1622)
  ("(relativeY(agent1 wall3) stable)" 1622 1643)
  ("(relativeY(agent1 wall3) up)" 1643 1682)
  ("(relativeY(agent1 wall3) stable)" 1682 1724)
  ("(relativeY(agent1 wall3) up)" 1724 1746)
  ("(relativeY(agent1 wall3) stable)" 1746 1795)
  ("(relativeY(agent1 wall3) up)" 1795 1821)
  ("(relativeY(agent1 wall3) stable)" 1821 1877)
  ("(relativeY(agent1 wall3) up)" 1877 1904)
 ))
(19
 (
  ("(x(agent1) 1)" 25 28)
  ("(x(agent1) 2)" 28 105)
  ("(x(agent1) 3)" 105 136)
  ("(x(agent1) 4)" 136 184)
  ("(x(agent1) 3)" 184 220)
  ("(x(agent1) 4)" 220 285)
  ("(x(agent1) 3)" 285 322)
  ("(x(agent1) 4)" 322 393)
  ("(x(agent1) 3)" 393 420)
  ("(x(agent1) 4)" 420 491)
  ("(x(agent1) 3)" 491 525)
  ("(x(agent1) 4)" 525 585)
  ("(x(agent1) 3)" 585 640)
  ("(x(agent1) 4)" 640 688)
  ("(x(agent1) 3)" 688 750)
  ("(x(agent1) 4)" 750 800)
  ("(x(agent1) 3)" 800 840)
  ("(x(agent1) 4)" 840 898)
  ("(x(agent1) 3)" 898 939)
  ("(x(agent1) 4)" 939 994)
  ("(x(agent1) 3)" 994 1045)
  ("(x(agent1) 4)" 1045 1098)
  ("(x(agent1) 3)" 1098 1143)
  ("(x(agent1) 4)" 1143 1202)
  ("(x(agent1) 3)" 1202 1247)
  ("(x(agent1) 4)" 1247 1311)
  ("(x(agent1) 3)" 1311 1352)
  ("(x(agent1) 4)" 1352 1627)
  ("(x(agent1) 3)" 1627 1637)
  ("(x(agent1) 4)" 1637 1786)
  ("(x(agent1) 5)" 1786 1878)
  ("(x(agent1) 4)" 1878 1941)
  ("(x(agent1) 3)" 1941 1995)
  ("(x(agent1) 2)" 1995 2040)
  ("(x(agent1) 1)" 2040 2304)
  ("(x(agent1) down)" 26 70)
  ("(x(agent1) stable)" 70 74)
  ("(x(agent1) up)" 74 85)
  ("(x(agent1) stable)" 85 89)
  ("(x(agent1) down)" 89 157)
  ("(x(agent1) stable)" 157 159)
  ("(x(agent1) up)" 159 201)
  ("(x(agent1) stable)" 201 205)
  ("(x(agent1) down)" 205 252)
  ("(x(agent1) stable)" 252 255)
  ("(x(agent1) up)" 255 303)
  ("(x(agent1) stable)" 303 306)
  ("(x(agent1) down)" 306 356)
  ("(x(agent1) stable)" 356 359)
  ("(x(agent1) up)" 359 406)
  ("(x(agent1) stable)" 406 409)
  ("(x(agent1) down)" 409 455)
  ("(x(agent1) stable)" 455 458)
  ("(x(agent1) up)" 458 507)
  ("(x(agent1) stable)" 507 510)
  ("(x(agent1) down)" 510 556)
  ("(x(agent1) stable)" 556 559)
  ("(x(agent1) up)" 559 612)
  ("(x(agent1) stable)" 612 615)
  ("(x(agent1) down)" 615 665)
  ("(x(agent1) stable)" 665 668)
  ("(x(agent1) up)" 668 719)
  ("(x(agent1) stable)" 719 722)
  ("(x(agent1) down)" 722 774)
  ("(x(agent1) stable)" 774 777)
  ("(x(agent1) up)" 777 820)
  ("(x(agent1) stable)" 820 823)
  ("(x(agent1) down)" 823 869)
  ("(x(agent1) stable)" 869 872)
  ("(x(agent1) up)" 872 919)
  ("(x(agent1) stable)" 919 922)
  ("(x(agent1) down)" 922 968)
  ("(x(agent1) stable)" 968 970)
  ("(x(agent1) up)" 970 1020)
  ("(x(agent1) stable)" 1020 1022)
  ("(x(agent1) down)" 1022 1071)
  ("(x(agent1) stable)" 1071 1074)
  ("(x(agent1) up)" 1074 1121)
  ("(x(agent1) stable)" 1121 1123)
  ("(x(agent1) down)" 1123 1173)
  ("(x(agent1) stable)" 1173 1175)
  ("(x(agent1) up)" 1175 1224)
  ("(x(agent1) stable)" 1224 1227)
  ("(x(agent1) down)" 1227 1279)
  ("(x(agent1) stable)" 1279 1281)
  ("(x(agent1) up)" 1281 1332)
  ("(x(agent1) stable)" 1332 1334)
  ("(x(agent1) down)" 1334 1388)
  ("(x(agent1) stable)" 1388 1390)
  ("(x(agent1) up)" 1390 1433)
  ("(x(agent1) stable)" 1433 1436)
  ("(x(agent1) down)" 1436 1482)
  ("(x(agent1) stable)" 1482 1485)
  ("(x(agent1) up)" 1485 1529)
  ("(x(agent1) stable)" 1529 1532)
  ("(x(agent1) down)" 1532 1577)
  ("(x(agent1) stable)" 1577 1580)
  ("(x(agent1) up)" 1580 1631)
  ("(x(agent1) stable)" 1631 1634)
  ("(x(agent1) down)" 1634 1686)
  ("(x(agent1) stable)" 1686 1688)
  ("(x(agent1) up)" 1688 1737)
  ("(x(agent1) stable)" 1737 1739)
  ("(x(agent1) down)" 1739 1805)
  ("(x(agent1) stable)" 1805 1809)
  ("(x(agent1) up)" 1809 1814)
  ("(x(agent1) stable)" 1814 1857)
  ("(x(agent1) up)" 1857 2304)
  ("(y(agent1) 1)" 25 94)
  ("(y(agent1) 2)" 94 188)
  ("(y(agent1) 3)" 188 217)
  ("(y(agent1) 2)" 217 302)
  ("(y(agent1) 3)" 302 310)
  ("(y(agent1) 2)" 310 396)
  ("(y(agent1) 3)" 396 416)
  ("(y(agent1) 2)" 416 501)
  ("(y(agent1) 3)" 501 513)
  ("(y(agent1) 2)" 513 598)
  ("(y(agent1) 3)" 598 625)
  ("(y(agent1) 2)" 625 709)
  ("(y(agent1) 3)" 709 732)
  ("(y(agent1) 2)" 732 1002)
  ("(y(agent1) 3)" 1002 1040)
  ("(y(agent1) 2)" 1040 1101)
  ("(y(agent1) 3)" 1101 1143)
  ("(y(agent1) 2)" 1143 1198)
  ("(y(agent1) 3)" 1198 1254)
  ("(y(agent1) 2)" 1254 1301)
  ("(y(agent1) 3)" 1301 1367)
  ("(y(agent1) 2)" 1367 1407)
  ("(y(agent1) 3)" 1407 1463)
  ("(y(agent1) 2)" 1463 1502)
  ("(y(agent1) 3)" 1502 1559)
  ("(y(agent1) 2)" 1559 1593)
  ("(y(agent1) 3)" 1593 1670)
  ("(y(agent1) 2)" 1670 1701)
  ("(y(agent1) 3)" 1701 1773)
  ("(y(agent1) 2)" 1773 1903)
  ("(y(agent1) 3)" 1903 1972)
  ("(y(agent1) 4)" 1972 2018)
  ("(y(agent1) 5)" 2018 2304)
  ("(y(agent1) up)" 26 50)
  ("(y(agent1) stable)" 50 53)
  ("(y(agent1) down)" 53 113)
  ("(y(agent1) stable)" 113 116)
  ("(y(agent1) up)" 116 138)
  ("(y(agent1) stable)" 138 142)
  ("(y(agent1) down)" 142 202)
  ("(y(agent1) stable)" 202 204)
  ("(y(agent1) up)" 204 255)
  ("(y(agent1) stable)" 255 258)
  ("(y(agent1) down)" 258 305)
  ("(y(agent1) stable)" 305 308)
  ("(y(agent1) up)" 308 355)
  ("(y(agent1) stable)" 355 357)
  ("(y(agent1) down)" 357 405)
  ("(y(agent1) stable)" 405 408)
  ("(y(agent1) up)" 408 456)
  ("(y(agent1) stable)" 456 459)
  ("(y(agent1) down)" 459 506)
  ("(y(agent1) stable)" 506 509)
  ("(y(agent1) up)" 509 557)
  ("(y(agent1) stable)" 557 560)
  ("(y(agent1) down)" 560 611)
  ("(y(agent1) stable)" 611 614)
  ("(y(agent1) up)" 614 666)
  ("(y(agent1) stable)" 666 668)
  ("(y(agent1) down)" 668 720)
  ("(y(agent1) stable)" 720 722)
  ("(y(agent1) up)" 722 774)
  ("(y(agent1) stable)" 774 776)
  ("(y(agent1) down)" 776 821)
  ("(y(agent1) stable)" 821 824)
  ("(y(agent1) up)" 824 869)
  ("(y(agent1) stable)" 869 871)
  ("(y(agent1) down)" 871 920)
  ("(y(agent1) stable)" 920 922)
  ("(y(agent1) up)" 922 967)
  ("(y(agent1) stable)" 967 970)
  ("(y(agent1) down)" 970 1021)
  ("(y(agent1) stable)" 1021 1023)
  ("(y(agent1) up)" 1023 1071)
  ("(y(agent1) stable)" 1071 1073)
  ("(y(agent1) down)" 1073 1122)
  ("(y(agent1) stable)" 1122 1124)
  ("(y(agent1) up)" 1124 1172)
  ("(y(agent1) stable)" 1172 1174)
  ("(y(agent1) down)" 1174 1226)
  ("(y(agent1) stable)" 1226 1228)
  ("(y(agent1) up)" 1228 1278)
  ("(y(agent1) stable)" 1278 1280)
  ("(y(agent1) down)" 1280 1334)
  ("(y(agent1) stable)" 1334 1336)
  ("(y(agent1) up)" 1336 1387)
  ("(y(agent1) stable)" 1387 1389)
  ("(y(agent1) down)" 1389 1434)
  ("(y(agent1) stable)" 1434 1437)
  ("(y(agent1) up)" 1437 1482)
  ("(y(agent1) stable)" 1482 1484)
  ("(y(agent1) down)" 1484 1530)
  ("(y(agent1) stable)" 1530 1532)
  ("(y(agent1) up)" 1532 1577)
  ("(y(agent1) stable)" 1577 1579)
  ("(y(agent1) down)" 1579 1632)
  ("(y(agent1) stable)" 1632 1634)
  ("(y(agent1) up)" 1634 1686)
  ("(y(agent1) stable)" 1686 1688)
  ("(y(agent1) down)" 1688 1737)
  ("(y(agent1) stable)" 1737 1739)
  ("(y(agent1) up)" 1739 1807)
  ("(y(agent1) stable)" 1807 1810)
  ("(y(agent1) down)" 1810 1811)
  ("(y(agent1) stable)" 1811 1858)
  ("(y(agent1) down)" 1858 2304)
  ("(speed(agent1) 3)" 25 28)
  ("(speed(agent1) 2)" 28 72)
  ("(speed(agent1) 3)" 72 78)
  ("(speed(agent1) 4)" 78 88)
  ("(speed(agent1) 3)" 88 133)
  ("(speed(agent1) 2)" 133 168)
  ("(speed(agent1) 3)" 168 179)
  ("(speed(agent1) 4)" 179 198)
  ("(speed(agent1) 5)" 198 214)
  ("(speed(agent1) 4)" 214 222)
  ("(speed(agent1) 3)" 222 232)
  ("(speed(agent1) 2)" 232 271)
  ("(speed(agent1) 3)" 271 277)
  ("(speed(agent1) 4)" 277 300)
  ("(speed(agent1) 5)" 300 317)
  ("(speed(agent1) 4)" 317 324)
  ("(speed(agent1) 3)" 324 339)
  ("(speed(agent1) 2)" 339 371)
  ("(speed(agent1) 3)" 371 377)
  ("(speed(agent1) 4)" 377 401)
  ("(speed(agent1) 5)" 401 417)
  ("(speed(agent1) 4)" 417 425)
  ("(speed(agent1) 3)" 425 440)
  ("(speed(agent1) 2)" 440 472)
  ("(speed(agent1) 3)" 472 478)
  ("(speed(agent1) 4)" 478 502)
  ("(speed(agent1) 5)" 502 518)
  ("(speed(agent1) 4)" 518 526)
  ("(speed(agent1) 3)" 526 541)
  ("(speed(agent1) 2)" 541 577)
  ("(speed(agent1) 3)" 577 591)
  ("(speed(agent1) 4)" 591 609)
  ("(speed(agent1) 5)" 609 623)
  ("(speed(agent1) 4)" 623 631)
  ("(speed(agent1) 3)" 631 636)
  ("(speed(agent1) 2)" 636 669)
  ("(speed(agent1) 1)" 669 676)
  ("(speed(agent1) 2)" 676 686)
  ("(speed(agent1) 3)" 686 700)
  ("(speed(agent1) 4)" 700 717)
  ("(speed(agent1) 5)" 717 732)
  ("(speed(agent1) 4)" 732 739)
  ("(speed(agent1) 3)" 739 745)
  ("(speed(agent1) 2)" 745 788)
  ("(speed(agent1) 3)" 788 793)
  ("(speed(agent1) 4)" 793 814)
  ("(speed(agent1) 5)" 814 833)
  ("(speed(agent1) 4)" 833 846)
  ("(speed(agent1) 3)" 846 860)
  ("(speed(agent1) 2)" 860 885)
  ("(speed(agent1) 3)" 885 890)
  ("(speed(agent1) 4)" 890 915)
  ("(speed(agent1) 5)" 915 931)
  ("(speed(agent1) 4)" 931 938)
  ("(speed(agent1) 3)" 938 951)
  ("(speed(agent1) 2)" 951 964)
  ("(speed(agent1) 1)" 964 988)
  ("(speed(agent1) 2)" 988 1001)
  ("(speed(agent1) 3)" 1001 1019)
  ("(speed(agent1) 4)" 1019 1031)
  ("(speed(agent1) 3)" 1031 1037)
  ("(speed(agent1) 2)" 1037 1045)
  ("(speed(agent1) 1)" 1045 1091)
  ("(speed(agent1) 2)" 1091 1103)
  ("(speed(agent1) 3)" 1103 1121)
  ("(speed(agent1) 4)" 1121 1132)
  ("(speed(agent1) 3)" 1132 1139)
  ("(speed(agent1) 2)" 1139 1147)
  ("(speed(agent1) 1)" 1147 1196)
  ("(speed(agent1) 2)" 1196 1210)
  ("(speed(agent1) 3)" 1210 1225)
  ("(speed(agent1) 4)" 1225 1235)
  ("(speed(agent1) 3)" 1235 1242)
  ("(speed(agent1) 2)" 1242 1247)
  ("(speed(agent1) 1)" 1247 1307)
  ("(speed(agent1) 2)" 1307 1319)
  ("(speed(agent1) 3)" 1319 1333)
  ("(speed(agent1) 4)" 1333 1343)
  ("(speed(agent1) 3)" 1343 1350)
  ("(speed(agent1) 2)" 1350 1354)
  ("(speed(agent1) 1)" 1354 1404)
  ("(speed(agent1) 2)" 1404 1409)
  ("(speed(agent1) 3)" 1409 1432)
  ("(speed(agent1) 4)" 1432 1444)
  ("(speed(agent1) 3)" 1444 1451)
  ("(speed(agent1) 2)" 1451 1464)
  ("(speed(agent1) 1)" 1464 1499)
  ("(speed(agent1) 2)" 1499 1503)
  ("(speed(agent1) 3)" 1503 1527)
  ("(speed(agent1) 4)" 1527 1540)
  ("(speed(agent1) 3)" 1540 1547)
  ("(speed(agent1) 2)" 1547 1562)
  ("(speed(agent1) 1)" 1562 1604)
  ("(speed(agent1) 2)" 1604 1617)
  ("(speed(agent1) 3)" 1617 1631)
  ("(speed(agent1) 4)" 1631 1642)
  ("(speed(agent1) 3)" 1642 1648)
  ("(speed(agent1) 2)" 1648 1653)
  ("(speed(agent1) 1)" 1653 1706)
  ("(speed(agent1) 2)" 1706 1721)
  ("(speed(agent1) 3)" 1721 1736)
  ("(speed(agent1) 4)" 1736 1748)
  ("(speed(agent1) 3)" 1748 1754)
  ("(speed(agent1) 2)" 1754 1759)
  ("(speed(agent1) 1)" 1759 1776)
  ("(speed(agent1) 2)" 1776 1784)
  ("(speed(agent1) 3)" 1784 1789)
  ("(speed(agent1) 4)" 1789 1795)
  ("(speed(agent1) 5)" 1795 1896)
  ("(speed(agent1) 4)" 1896 1912)
  ("(speed(agent1) 5)" 1912 1977)
  ("(speed(agent1) 4)" 1977 1987)
  ("(speed(agent1) 3)" 1987 1999)
  ("(speed(agent1) 2)" 1999 2010)
  ("(speed(agent1) 3)" 2010 2017)
  ("(speed(agent1) 4)" 2017 2027)
  ("(speed(agent1) 5)" 2027 2069)
  ("(speed(agent1) 4)" 2069 2080)
  ("(speed(agent1) 3)" 2080 2092)
  ("(speed(agent1) 2)" 2092 2110)
  ("(speed(agent1) 3)" 2110 2119)
  ("(speed(agent1) 4)" 2119 2249)
  ("(speed(agent1) 3)" 2249 2268)
  ("(speed(agent1) 2)" 2268 2304)
  ("(speed(agent1) up)" 26 60)
  ("(speed(agent1) down)" 60 80)
  ("(speed(agent1) up)" 80 120)
  ("(speed(agent1) down)" 120 125)
  ("(speed(agent1) stable)" 125 126)
  ("(speed(agent1) up)" 126 157)
  ("(speed(agent1) down)" 157 208)
  ("(speed(agent1) up)" 208 259)
  ("(speed(agent1) stable)" 259 260)
  ("(speed(agent1) down)" 260 310)
  ("(speed(agent1) stable)" 310 311)
  ("(speed(agent1) up)" 311 361)
  ("(speed(agent1) down)" 361 411)
  ("(speed(agent1) stable)" 411 412)
  ("(speed(agent1) up)" 412 462)
  ("(speed(agent1) down)" 462 512)
  ("(speed(agent1) stable)" 512 513)
  ("(speed(agent1) up)" 513 566)
  ("(speed(agent1) down)" 566 617)
  ("(speed(agent1) stable)" 617 618)
  ("(speed(agent1) up)" 618 673)
  ("(speed(agent1) down)" 673 725)
  ("(speed(agent1) stable)" 725 726)
  ("(speed(agent1) up)" 726 776)
  ("(speed(agent1) down)" 776 827)
  ("(speed(agent1) up)" 827 875)
  ("(speed(agent1) down)" 875 925)
  ("(speed(agent1) stable)" 925 926)
  ("(speed(agent1) up)" 926 978)
  ("(speed(agent1) down)" 978 1026)
  ("(speed(agent1) stable)" 1026 1027)
  ("(speed(agent1) up)" 1027 1077)
  ("(speed(agent1) down)" 1077 1127)
  ("(speed(agent1) stable)" 1127 1128)
  ("(speed(agent1) up)" 1128 1180)
  ("(speed(agent1) down)" 1180 1231)
  ("(speed(agent1) up)" 1231 1286)
  ("(speed(agent1) down)" 1286 1338)
  ("(speed(agent1) stable)" 1338 1339)
  ("(speed(agent1) up)" 1339 1389)
  ("(speed(agent1) down)" 1389 1440)
  ("(speed(agent1) up)" 1440 1486)
  ("(speed(agent1) stable)" 1486 1487)
  ("(speed(agent1) down)" 1487 1536)
  ("(speed(agent1) up)" 1536 1586)
  ("(speed(agent1) stable)" 1586 1587)
  ("(speed(agent1) down)" 1587 1637)
  ("(speed(agent1) up)" 1637 1691)
  ("(speed(agent1) down)" 1691 1743)
  ("(speed(agent1) up)" 1743 1767)
  ("(speed(agent1) stable)" 1767 1768)
  ("(speed(agent1) down)" 1768 1829)
  ("(speed(agent1) stable)" 1829 1831)
  ("(speed(agent1) down)" 1831 1855)
  ("(speed(agent1) up)" 1855 1906)
  ("(speed(agent1) down)" 1906 1956)
  ("(speed(agent1) up)" 1956 2007)
  ("(speed(agent1) down)" 2007 2054)
  ("(speed(agent1) up)" 2054 2105)
  ("(speed(agent1) down)" 2105 2146)
  ("(speed(agent1) stable)" 2146 2148)
  ("(speed(agent1) up)" 2148 2166)
  ("(speed(agent1) down)" 2166 2211)
  ("(speed(agent1) stable)" 2211 2213)
  ("(speed(agent1) up)" 2213 2304)
  ("(heading(agent1) 5)" 50 91)
  ("(heading(agent1) 4)" 91 1814)
  ("(heading(agent1) 3)" 1814 1878)
  ("(heading(agent1) 2)" 1878 1944)
  ("(heading(agent1) 1)" 1944 2279)
  ("(heading(agent1) up)" 51 163)
  ("(heading(agent1) stable)" 163 176)
  ("(heading(agent1) down)" 176 200)
  ("(heading(agent1) stable)" 200 1766)
  ("(heading(agent1) up)" 1766 2256)
  ("(heading(agent1) stable)" 2256 2277)
  ("(heading(agent1) down)" 2277 2279)
  ("(energy(agent1) 1)" 25 658)
  ("(energy(agent1) 2)" 658 1058)
  ("(energy(agent1) 3)" 1058 1285)
  ("(energy(agent1) 4)" 1285 1573)
  ("(energy(agent1) 5)" 1573 2304)
  ("(energy(agent1) stable)" 26 30)
  ("(energy(agent1) down)" 30 81)
  ("(energy(agent1) stable)" 81 121)
  ("(energy(agent1) down)" 121 172)
  ("(energy(agent1) stable)" 172 226)
  ("(energy(agent1) down)" 226 277)
  ("(energy(agent1) stable)" 277 327)
  ("(energy(agent1) down)" 327 378)
  ("(energy(agent1) stable)" 378 428)
  ("(energy(agent1) down)" 428 479)
  ("(energy(agent1) stable)" 479 529)
  ("(energy(agent1) down)" 529 580)
  ("(energy(agent1) stable)" 580 637)
  ("(energy(agent1) down)" 637 688)
  ("(energy(agent1) stable)" 688 745)
  ("(energy(agent1) down)" 745 796)
  ("(energy(agent1) stable)" 796 841)
  ("(energy(agent1) down)" 841 892)
  ("(energy(agent1) stable)" 892 941)
  ("(energy(agent1) down)" 941 992)
  ("(energy(agent1) stable)" 992 1043)
  ("(energy(agent1) down)" 1043 1094)
  ("(energy(agent1) stable)" 1094 1144)
  ("(energy(agent1) down)" 1144 1195)
  ("(energy(agent1) stable)" 1195 1250)
  ("(energy(agent1) down)" 1250 1301)
  ("(energy(agent1) stable)" 1301 1358)
  ("(energy(agent1) down)" 1358 1409)
  ("(energy(agent1) stable)" 1409 1454)
  ("(energy(agent1) down)" 1454 1505)
  ("(energy(agent1) stable)" 1505 1549)
  ("(energy(agent1) down)" 1549 1600)
  ("(energy(agent1) stable)" 1600 1657)
  ("(energy(agent1) down)" 1657 1708)
  ("(energy(agent1) stable)" 1708 1761)
  ("(energy(agent1) down)" 1761 1786)
  ("(energy(agent1) stable)" 1786 2304)
  ("(arousal(agent1) 5)" 25 169)
  ("(arousal(agent1) 4)" 169 179)
  ("(arousal(agent1) 5)" 179 235)
  ("(arousal(agent1) 4)" 235 254)
  ("(arousal(agent1) 3)" 254 270)
  ("(arousal(agent1) 2)" 270 298)
  ("(arousal(agent1) 3)" 298 354)
  ("(arousal(agent1) 2)" 354 399)
  ("(arousal(agent1) 3)" 399 455)
  ("(arousal(agent1) 2)" 455 500)
  ("(arousal(agent1) 3)" 500 556)
  ("(arousal(agent1) 2)" 556 601)
  ("(arousal(agent1) 3)" 601 666)
  ("(arousal(agent1) 2)" 666 709)
  ("(arousal(agent1) 3)" 709 774)
  ("(arousal(agent1) 2)" 774 817)
  ("(arousal(agent1) 3)" 817 865)
  ("(arousal(agent1) 2)" 865 913)
  ("(arousal(agent1) 3)" 913 967)
  ("(arousal(agent1) 2)" 967 1013)
  ("(arousal(agent1) 3)" 1013 1070)
  ("(arousal(agent1) 2)" 1070 1115)
  ("(arousal(agent1) 3)" 1115 1171)
  ("(arousal(agent1) 2)" 1171 1216)
  ("(arousal(agent1) 3)" 1216 1279)
  ("(arousal(agent1) 2)" 1279 1322)
  ("(arousal(agent1) 3)" 1322 1387)
  ("(arousal(agent1) 2)" 1387 1430)
  ("(arousal(agent1) 3)" 1430 1478)
  ("(arousal(agent1) 2)" 1478 1526)
  ("(arousal(agent1) 3)" 1526 1572)
  ("(arousal(agent1) 2)" 1572 1621)
  ("(arousal(agent1) 3)" 1621 1686)
  ("(arousal(agent1) 2)" 1686 1729)
  ("(arousal(agent1) 3)" 1729 1789)
  ("(arousal(agent1) 2)" 1789 1833)
  ("(arousal(agent1) 3)" 1833 1879)
  ("(arousal(agent1) 2)" 1879 1928)
  ("(arousal(agent1) 3)" 1928 1979)
  ("(arousal(agent1) 2)" 1979 2281)
  ("(arousal(agent1) 3)" 2281 2304)
  ("(arousal(agent1) down)" 26 29)
  ("(arousal(agent1) up)" 29 171)
  ("(arousal(agent1) down)" 171 225)
  ("(arousal(agent1) up)" 225 276)
  ("(arousal(agent1) down)" 276 326)
  ("(arousal(agent1) up)" 326 377)
  ("(arousal(agent1) down)" 377 427)
  ("(arousal(agent1) up)" 427 478)
  ("(arousal(agent1) down)" 478 528)
  ("(arousal(agent1) up)" 528 579)
  ("(arousal(agent1) down)" 579 636)
  ("(arousal(agent1) up)" 636 687)
  ("(arousal(agent1) down)" 687 744)
  ("(arousal(agent1) up)" 744 795)
  ("(arousal(agent1) down)" 795 840)
  ("(arousal(agent1) up)" 840 891)
  ("(arousal(agent1) down)" 891 940)
  ("(arousal(agent1) up)" 940 991)
  ("(arousal(agent1) down)" 991 1042)
  ("(arousal(agent1) up)" 1042 1093)
  ("(arousal(agent1) down)" 1093 1143)
  ("(arousal(agent1) up)" 1143 1194)
  ("(arousal(agent1) down)" 1194 1249)
  ("(arousal(agent1) up)" 1249 1300)
  ("(arousal(agent1) down)" 1300 1357)
  ("(arousal(agent1) up)" 1357 1408)
  ("(arousal(agent1) down)" 1408 1453)
  ("(arousal(agent1) up)" 1453 1504)
  ("(arousal(agent1) down)" 1504 1548)
  ("(arousal(agent1) up)" 1548 1599)
  ("(arousal(agent1) down)" 1599 1656)
  ("(arousal(agent1) up)" 1656 1707)
  ("(arousal(agent1) down)" 1707 1760)
  ("(arousal(agent1) up)" 1760 1811)
  ("(arousal(agent1) down)" 1811 1855)
  ("(arousal(agent1) up)" 1855 1906)
  ("(arousal(agent1) down)" 1906 1956)
  ("(arousal(agent1) up)" 1956 2007)
  ("(arousal(agent1) stable)" 2007 2040)
  ("(arousal(agent1) down)" 2040 2054)
  ("(arousal(agent1) stable)" 2054 2062)
  ("(arousal(agent1) down)" 2062 2064)
  ("(arousal(agent1) stable)" 2064 2091)
  ("(arousal(agent1) up)" 2091 2105)
  ("(arousal(agent1) stable)" 2105 2113)
  ("(arousal(agent1) up)" 2113 2115)
  ("(arousal(agent1) stable)" 2115 2217)
  ("(arousal(agent1) down)" 2217 2304)
  ("(valence(agent1) 5)" 25 71)
  ("(valence(agent1) 4)" 71 149)
  ("(valence(agent1) 3)" 149 247)
  ("(valence(agent1) 2)" 247 1870)
  ("(valence(agent1) 3)" 1870 1902)
  ("(valence(agent1) 4)" 1902 1979)
  ("(valence(agent1) 5)" 1979 2304)
  ("(valence(agent1) stable)" 26 29)
  ("(valence(agent1) up)" 29 80)
  ("(valence(agent1) down)" 80 120)
  ("(valence(agent1) up)" 120 171)
  ("(valence(agent1) down)" 171 225)
  ("(valence(agent1) up)" 225 276)
  ("(valence(agent1) down)" 276 326)
  ("(valence(agent1) up)" 326 377)
  ("(valence(agent1) down)" 377 427)
  ("(valence(agent1) up)" 427 478)
  ("(valence(agent1) down)" 478 528)
  ("(valence(agent1) up)" 528 579)
  ("(valence(agent1) down)" 579 636)
  ("(valence(agent1) up)" 636 687)
  ("(valence(agent1) down)" 687 744)
  ("(valence(agent1) up)" 744 795)
  ("(valence(agent1) down)" 795 840)
  ("(valence(agent1) up)" 840 891)
  ("(valence(agent1) down)" 891 940)
  ("(valence(agent1) up)" 940 991)
  ("(valence(agent1) down)" 991 1042)
  ("(valence(agent1) up)" 1042 1093)
  ("(valence(agent1) down)" 1093 1143)
  ("(valence(agent1) up)" 1143 1194)
  ("(valence(agent1) down)" 1194 1249)
  ("(valence(agent1) up)" 1249 1300)
  ("(valence(agent1) down)" 1300 1357)
  ("(valence(agent1) up)" 1357 1408)
  ("(valence(agent1) down)" 1408 1453)
  ("(valence(agent1) up)" 1453 1504)
  ("(valence(agent1) down)" 1504 1548)
  ("(valence(agent1) up)" 1548 1599)
  ("(valence(agent1) down)" 1599 1656)
  ("(valence(agent1) up)" 1656 1707)
  ("(valence(agent1) down)" 1707 1760)
  ("(valence(agent1) up)" 1760 1811)
  ("(valence(agent1) down)" 1811 2105)
  ("(valence(agent1) up)" 2105 2115)
  ("(valence(agent1) down)" 2115 2241)
  ("(valence(agent1) stable)" 2241 2252)
  ("(valence(agent1) up)" 2252 2304)
  ("(goal(agent1) WanderGoal)" 0 1)
  ("(goal(agent1) PursueGoal)" 1 1787)
  ("(goal(agent1) WanderGoal)" 1787 2329)
  ("(state(agent1) wander)" 0 1)
  ("(state(agent1) charge)" 1 53)
  ("(state(agent1) back-away)" 53 83)
  ("(state(agent1) charge)" 83 145)
  ("(state(agent1) back-away)" 145 178)
  ("(state(agent1) charge)" 178 250)
  ("(state(agent1) back-away)" 250 281)
  ("(state(agent1) charge)" 281 351)
  ("(state(agent1) back-away)" 351 382)
  ("(state(agent1) charge)" 382 452)
  ("(state(agent1) back-away)" 452 483)
  ("(state(agent1) charge)" 483 553)
  ("(state(agent1) back-away)" 553 587)
  ("(state(agent1) charge)" 587 661)
  ("(state(agent1) back-away)" 661 695)
  ("(state(agent1) charge)" 695 769)
  ("(state(agent1) back-away)" 769 798)
  ("(state(agent1) charge)" 798 865)
  ("(state(agent1) back-away)" 865 896)
  ("(state(agent1) charge)" 896 965)
  ("(state(agent1) back-away)" 965 997)
  ("(state(agent1) charge)" 997 1067)
  ("(state(agent1) back-away)" 1067 1098)
  ("(state(agent1) charge)" 1098 1168)
  ("(state(agent1) back-away)" 1168 1201)
  ("(state(agent1) charge)" 1201 1274)
  ("(state(agent1) back-away)" 1274 1308)
  ("(state(agent1) charge)" 1308 1382)
  ("(state(agent1) back-away)" 1382 1411)
  ("(state(agent1) charge)" 1411 1478)
  ("(state(agent1) back-away)" 1478 1507)
  ("(state(agent1) charge)" 1507 1573)
  ("(state(agent1) back-away)" 1573 1607)
  ("(state(agent1) charge)" 1607 1681)
  ("(state(agent1) back-away)" 1681 1713)
  ("(state(agent1) charge)" 1713 1785)
  ("(state(agent1) back-away)" 1785 1787)
  ("(state(agent1) wander)" 1787 2329)
  ("(x(agent2) 1)" 76 181)
  ("(x(agent2) 2)" 181 198)
  ("(x(agent2) 3)" 198 214)
  ("(x(agent2) 2)" 214 232)
  ("(x(agent2) 1)" 232 269)
  ("(x(agent2) 2)" 269 282)
  ("(x(agent2) 3)" 282 296)
  ("(x(agent2) 4)" 296 315)
  ("(x(agent2) 3)" 315 328)
  ("(x(agent2) 2)" 328 342)
  ("(x(agent2) 1)" 342 371)
  ("(x(agent2) 2)" 371 386)
  ("(x(agent2) 3)" 386 424)
  ("(x(agent2) 2)" 424 438)
  ("(x(agent2) 1)" 438 476)
  ("(x(agent2) 2)" 476 493)
  ("(x(agent2) 3)" 493 519)
  ("(x(agent2) 2)" 519 533)
  ("(x(agent2) 1)" 533 581)
  ("(x(agent2) 2)" 581 594)
  ("(x(agent2) 3)" 594 629)
  ("(x(agent2) 2)" 629 641)
  ("(x(agent2) 1)" 641 688)
  ("(x(agent2) 2)" 688 700)
  ("(x(agent2) 3)" 700 716)
  ("(x(agent2) 4)" 716 726)
  ("(x(agent2) 3)" 726 741)
  ("(x(agent2) 2)" 741 753)
  ("(x(agent2) 1)" 753 795)
  ("(x(agent2) 2)" 795 811)
  ("(x(agent2) 3)" 811 832)
  ("(x(agent2) 2)" 832 847)
  ("(x(agent2) 1)" 847 890)
  ("(x(agent2) 2)" 890 903)
  ("(x(agent2) 3)" 903 937)
  ("(x(agent2) 2)" 937 951)
  ("(x(agent2) 1)" 951 983)
  ("(x(agent2) 2)" 983 994)
  ("(x(agent2) 3)" 994 1003)
  ("(x(agent2) 4)" 1003 1040)
  ("(x(agent2) 3)" 1040 1049)
  ("(x(agent2) 2)" 1049 1064)
  ("(x(agent2) 1)" 1064 1078)
  ("(x(agent2) 2)" 1078 1091)
  ("(x(agent2) 3)" 1091 1100)
  ("(x(agent2) 4)" 1100 1112)
  ("(x(agent2) 5)" 1112 1134)
  ("(x(agent2) 4)" 1134 1146)
  ("(x(agent2) 3)" 1146 1155)
  ("(x(agent2) 2)" 1155 1187)
  ("(x(agent2) 3)" 1187 1195)
  ("(x(agent2) 4)" 1195 1204)
  ("(x(agent2) 5)" 1204 1248)
  ("(x(agent2) 4)" 1248 1258)
  ("(x(agent2) 3)" 1258 1271)
  ("(x(agent2) 2)" 1271 1285)
  ("(x(agent2) 3)" 1285 1296)
  ("(x(agent2) 4)" 1296 1305)
  ("(x(agent2) 5)" 1305 1363)
  ("(x(agent2) 4)" 1363 1375)
  ("(x(agent2) 3)" 1375 1399)
  ("(x(agent2) 4)" 1399 1411)
  ("(x(agent2) 5)" 1411 1458)
  ("(x(agent2) 4)" 1458 1473)
  ("(x(agent2) 3)" 1473 1492)
  ("(x(agent2) 4)" 1492 1505)
  ("(x(agent2) 5)" 1505 1555)
  ("(x(agent2) 4)" 1555 1571)
  ("(x(agent2) 3)" 1571 1584)
  ("(x(agent2) 4)" 1584 1598)
  ("(x(agent2) 5)" 1598 1664)
  ("(x(agent2) 4)" 1664 1678)
  ("(x(agent2) 3)" 1678 1695)
  ("(x(agent2) 4)" 1695 1707)
  ("(x(agent2) 5)" 1707 1767)
  ("(x(agent2) 4)" 1767 1783)
  ("(x(agent2) 3)" 1783 1795)
  ("(x(agent2) 4)" 1795 1810)
  ("(x(agent2) 5)" 1810 1860)
  ("(x(agent2) 4)" 1860 1870)
  ("(x(agent2) 3)" 1870 1879)
  ("(x(agent2) 2)" 1879 1908)
  ("(x(agent2) down)" 77 111)
  ("(x(agent2) stable)" 111 112)
  ("(x(agent2) up)" 112 149)
  ("(x(agent2) stable)" 149 150)
  ("(x(agent2) down)" 150 206)
  ("(x(agent2) stable)" 206 207)
  ("(x(agent2) up)" 207 252)
  ("(x(agent2) stable)" 252 253)
  ("(x(agent2) down)" 253 306)
  ("(x(agent2) up)" 306 357)
  ("(x(agent2) stable)" 357 358)
  ("(x(agent2) down)" 358 406)
  ("(x(agent2) stable)" 406 407)
  ("(x(agent2) up)" 407 458)
  ("(x(agent2) down)" 458 506)
  ("(x(agent2) stable)" 506 507)
  ("(x(agent2) up)" 507 558)
  ("(x(agent2) stable)" 558 559)
  ("(x(agent2) down)" 559 612)
  ("(x(agent2) stable)" 612 613)
  ("(x(agent2) up)" 613 666)
  ("(x(agent2) stable)" 666 667)
  ("(x(agent2) down)" 667 721)
  ("(x(agent2) stable)" 721 722)
  ("(x(agent2) up)" 722 774)
  ("(x(agent2) stable)" 774 775)
  ("(x(agent2) down)" 775 822)
  ("(x(agent2) stable)" 822 823)
  ("(x(agent2) up)" 823 870)
  ("(x(agent2) down)" 870 921)
  ("(x(agent2) up)" 921 968)
  ("(x(agent2) stable)" 968 969)
  ("(x(agent2) down)" 969 1022)
  ("(x(agent2) stable)" 1022 1023)
  ("(x(agent2) up)" 1023 1071)
  ("(x(agent2) stable)" 1071 1072)
  ("(x(agent2) down)" 1072 1123)
  ("(x(agent2) stable)" 1123 1124)
  ("(x(agent2) up)" 1124 1172)
  ("(x(agent2) stable)" 1172 1173)
  ("(x(agent2) down)" 1173 1227)
  ("(x(agent2) stable)" 1227 1228)
  ("(x(agent2) up)" 1228 1278)
  ("(x(agent2) stable)" 1278 1279)
  ("(x(agent2) down)" 1279 1334)
  ("(x(agent2) stable)" 1334 1335)
  ("(x(agent2) up)" 1335 1387)
  ("(x(agent2) stable)" 1387 1388)
  ("(x(agent2) down)" 1388 1436)
  ("(x(agent2) up)" 1436 1483)
  ("(x(agent2) down)" 1483 1531)
  ("(x(agent2) stable)" 1531 1532)
  ("(x(agent2) up)" 1532 1578)
  ("(x(agent2) stable)" 1578 1579)
  ("(x(agent2) down)" 1579 1632)
  ("(x(agent2) stable)" 1632 1633)
  ("(x(agent2) up)" 1633 1687)
  ("(x(agent2) down)" 1687 1738)
  ("(x(agent2) stable)" 1738 1739)
  ("(x(agent2) up)" 1739 1789)
  ("(x(agent2) stable)" 1789 1790)
  ("(x(agent2) down)" 1790 1837)
  ("(x(agent2) up)" 1837 1895)
  ("(x(agent2) stable)" 1895 1896)
  ("(x(agent2) down)" 1896 1908)
  ("(y(agent2) 2)" 76 83)
  ("(y(agent2) 1)" 83 111)
  ("(y(agent2) 2)" 111 124)
  ("(y(agent2) 3)" 124 135)
  ("(y(agent2) 4)" 135 160)
  ("(y(agent2) 3)" 160 169)
  ("(y(agent2) 2)" 169 178)
  ("(y(agent2) 1)" 178 223)
  ("(y(agent2) 2)" 223 230)
  ("(y(agent2) 3)" 230 238)
  ("(y(agent2) 4)" 238 253)
  ("(y(agent2) 5)" 253 260)
  ("(y(agent2) 4)" 260 275)
  ("(y(agent2) 3)" 275 284)
  ("(y(agent2) 2)" 284 297)
  ("(y(agent2) 1)" 297 313)
  ("(y(agent2) 2)" 313 326)
  ("(y(agent2) 3)" 326 334)
  ("(y(agent2) 4)" 334 347)
  ("(y(agent2) 5)" 347 363)
  ("(y(agent2) 4)" 363 375)
  ("(y(agent2) 3)" 375 383)
  ("(y(agent2) 2)" 383 394)
  ("(y(agent2) 1)" 394 418)
  ("(y(agent2) 2)" 418 429)
  ("(y(agent2) 3)" 429 437)
  ("(y(agent2) 4)" 437 452)
  ("(y(agent2) 5)" 452 460)
  ("(y(agent2) 4)" 460 475)
  ("(y(agent2) 3)" 475 482)
  ("(y(agent2) 2)" 482 492)
  ("(y(agent2) 1)" 492 523)
  ("(y(agent2) 2)" 523 532)
  ("(y(agent2) 3)" 532 541)
  ("(y(agent2) 4)" 541 572)
  ("(y(agent2) 3)" 572 580)
  ("(y(agent2) 2)" 580 588)
  ("(y(agent2) 1)" 588 636)
  ("(y(agent2) 2)" 636 644)
  ("(y(agent2) 3)" 644 653)
  ("(y(agent2) 4)" 653 680)
  ("(y(agent2) 3)" 680 687)
  ("(y(agent2) 2)" 687 696)
  ("(y(agent2) 1)" 696 743)
  ("(y(agent2) 2)" 743 751)
  ("(y(agent2) 3)" 751 760)
  ("(y(agent2) 4)" 760 790)
  ("(y(agent2) 3)" 790 799)
  ("(y(agent2) 2)" 799 813)
  ("(y(agent2) 1)" 813 829)
  ("(y(agent2) 2)" 829 842)
  ("(y(agent2) 3)" 842 851)
  ("(y(agent2) 4)" 851 888)
  ("(y(agent2) 3)" 888 896)
  ("(y(agent2) 2)" 896 908)
  ("(y(agent2) 1)" 908 931)
  ("(y(agent2) 2)" 931 942)
  ("(y(agent2) 3)" 942 950)
  ("(y(agent2) 4)" 950 985)
  ("(y(agent2) 3)" 985 992)
  ("(y(agent2) 2)" 992 999)
  ("(y(agent2) 1)" 999 1041)
  ("(y(agent2) 2)" 1041 1048)
  ("(y(agent2) 3)" 1048 1055)
  ("(y(agent2) 4)" 1055 1088)
  ("(y(agent2) 3)" 1088 1095)
  ("(y(agent2) 2)" 1095 1103)
  ("(y(agent2) 1)" 1103 1139)
  ("(y(agent2) 2)" 1139 1146)
  ("(y(agent2) 3)" 1146 1153)
  ("(y(agent2) 4)" 1153 1164)
  ("(y(agent2) 5)" 1164 1183)
  ("(y(agent2) 4)" 1183 1192)
  ("(y(agent2) 3)" 1192 1198)
  ("(y(agent2) 2)" 1198 1206)
  ("(y(agent2) 1)" 1206 1243)
  ("(y(agent2) 2)" 1243 1250)
  ("(y(agent2) 3)" 1250 1256)
  ("(y(agent2) 4)" 1256 1265)
  ("(y(agent2) 5)" 1265 1294)
  ("(y(agent2) 4)" 1294 1301)
  ("(y(agent2) 3)" 1301 1307)
  ("(y(agent2) 2)" 1307 1315)
  ("(y(agent2) 1)" 1315 1349)
  ("(y(agent2) 2)" 1349 1357)
  ("(y(agent2) 3)" 1357 1362)
  ("(y(agent2) 4)" 1362 1370)
  ("(y(agent2) 5)" 1370 1406)
  ("(y(agent2) 4)" 1406 1415)
  ("(y(agent2) 3)" 1415 1424)
  ("(y(agent2) 2)" 1424 1444)
  ("(y(agent2) 3)" 1444 1452)
  ("(y(agent2) 4)" 1452 1460)
  ("(y(agent2) 5)" 1460 1505)
  ("(y(agent2) 4)" 1505 1514)
  ("(y(agent2) 3)" 1514 1529)
  ("(y(agent2) 2)" 1529 1532)
  ("(y(agent2) 3)" 1532 1545)
  ("(y(agent2) 4)" 1545 1554)
  ("(y(agent2) 5)" 1554 1598)
  ("(y(agent2) 4)" 1598 1604)
  ("(y(agent2) 3)" 1604 1611)
  ("(y(agent2) 2)" 1611 1619)
  ("(y(agent2) 1)" 1619 1645)
  ("(y(agent2) 2)" 1645 1653)
  ("(y(agent2) 3)" 1653 1658)
  ("(y(agent2) 4)" 1658 1665)
  ("(y(agent2) 5)" 1665 1705)
  ("(y(agent2) 4)" 1705 1712)
  ("(y(agent2) 3)" 1712 1719)
  ("(y(agent2) 2)" 1719 1730)
  ("(y(agent2) 1)" 1730 1745)
  ("(y(agent2) 2)" 1745 1755)
  ("(y(agent2) 3)" 1755 1761)
  ("(y(agent2) 4)" 1761 1768)
  ("(y(agent2) 5)" 1768 1814)
  ("(y(agent2) 4)" 1814 1825)
  ("(y(agent2) 3)" 1825 1847)
  ("(y(agent2) 4)" 1847 1856)
  ("(y(agent2) 5)" 1856 1908)
  ("(y(agent2) up)" 77 98)
  ("(y(agent2) stable)" 98 99)
  ("(y(agent2) down)" 99 148)
  ("(y(agent2) stable)" 148 149)
  ("(y(agent2) up)" 149 201)
  ("(y(agent2) stable)" 201 202)
  ("(y(agent2) down)" 202 257)
  ("(y(agent2) up)" 257 306)
  ("(y(agent2) down)" 306 356)
  ("(y(agent2) up)" 356 407)
  ("(y(agent2) down)" 407 457)
  ("(y(agent2) up)" 457 508)
  ("(y(agent2) stable)" 508 509)
  ("(y(agent2) down)" 509 558)
  ("(y(agent2) up)" 558 613)
  ("(y(agent2) down)" 613 667)
  ("(y(agent2) stable)" 667 668)
  ("(y(agent2) up)" 668 720)
  ("(y(agent2) stable)" 720 721)
  ("(y(agent2) down)" 721 775)
  ("(y(agent2) stable)" 775 776)
  ("(y(agent2) up)" 776 822)
  ("(y(agent2) down)" 822 870)
  ("(y(agent2) stable)" 870 871)
  ("(y(agent2) up)" 871 920)
  ("(y(agent2) stable)" 920 921)
  ("(y(agent2) down)" 921 969)
  ("(y(agent2) up)" 969 1021)
  ("(y(agent2) stable)" 1021 1022)
  ("(y(agent2) down)" 1022 1072)
  ("(y(agent2) stable)" 1072 1073)
  ("(y(agent2) up)" 1073 1122)
  ("(y(agent2) stable)" 1122 1123)
  ("(y(agent2) down)" 1123 1174)
  ("(y(agent2) up)" 1174 1226)
  ("(y(agent2) down)" 1226 1280)
  ("(y(agent2) up)" 1280 1333)
  ("(y(agent2) down)" 1333 1388)
  ("(y(agent2) stable)" 1388 1389)
  ("(y(agent2) up)" 1389 1435)
  ("(y(agent2) down)" 1435 1483)
  ("(y(agent2) stable)" 1483 1484)
  ("(y(agent2) up)" 1484 1531)
  ("(y(agent2) down)" 1531 1578)
  ("(y(agent2) up)" 1578 1633)
  ("(y(agent2) down)" 1633 1686)
  ("(y(agent2) stable)" 1686 1687)
  ("(y(agent2) up)" 1687 1738)
  ("(y(agent2) down)" 1738 1791)
  ("(y(agent2) stable)" 1791 1792)
  ("(y(agent2) up)" 1792 1836)
  ("(y(agent2) stable)" 1836 1837)
  ("(y(agent2) down)" 1837 1896)
  ("(y(agent2) up)" 1896 1908)
  ("(speed(agent2) 3)" 76 77)
  ("(speed(agent2) 4)" 77 92)
  ("(speed(agent2) 5)" 92 133)
  ("(speed(agent2) 4)" 133 144)
  ("(speed(agent2) 3)" 144 155)
  ("(speed(agent2) 2)" 155 161)
  ("(speed(agent2) 3)" 161 169)
  ("(speed(agent2) 4)" 169 183)
  ("(speed(agent2) 5)" 183 220)
  ("(speed(agent2) 4)" 220 224)
  ("(speed(agent2) 3)" 224 241)
  ("(speed(agent2) 2)" 241 268)
  ("(speed(agent2) 3)" 268 273)
  ("(speed(agent2) 4)" 273 282)
  ("(speed(agent2) 5)" 282 323)
  ("(speed(agent2) 4)" 323 334)
  ("(speed(agent2) 3)" 334 348)
  ("(speed(agent2) 2)" 348 368)
  ("(speed(agent2) 3)" 368 373)
  ("(speed(agent2) 4)" 373 382)
  ("(speed(agent2) 5)" 382 424)
  ("(speed(agent2) 4)" 424 434)
  ("(speed(agent2) 3)" 434 448)
  ("(speed(agent2) 2)" 448 469)
  ("(speed(agent2) 3)" 469 474)
  ("(speed(agent2) 4)" 474 483)
  ("(speed(agent2) 5)" 483 525)
  ("(speed(agent2) 4)" 525 535)
  ("(speed(agent2) 3)" 535 549)
  ("(speed(agent2) 2)" 549 574)
  ("(speed(agent2) 3)" 574 582)
  ("(speed(agent2) 4)" 582 594)
  ("(speed(agent2) 5)" 594 630)
  ("(speed(agent2) 4)" 630 634)
  ("(speed(agent2) 3)" 634 646)
  ("(speed(agent2) 2)" 646 683)
  ("(speed(agent2) 3)" 683 692)
  ("(speed(agent2) 4)" 692 703)
  ("(speed(agent2) 5)" 703 738)
  ("(speed(agent2) 4)" 738 742)
  ("(speed(agent2) 3)" 742 755)
  ("(speed(agent2) 2)" 755 785)
  ("(speed(agent2) 3)" 785 790)
  ("(speed(agent2) 4)" 790 794)
  ("(speed(agent2) 5)" 794 839)
  ("(speed(agent2) 4)" 839 855)
  ("(speed(agent2) 3)" 855 868)
  ("(speed(agent2) 2)" 868 881)
  ("(speed(agent2) 3)" 881 887)
  ("(speed(agent2) 4)" 887 894)
  ("(speed(agent2) 5)" 894 937)
  ("(speed(agent2) 4)" 937 947)
  ("(speed(agent2) 3)" 947 956)
  ("(speed(agent2) 2)" 956 966)
  ("(speed(agent2) 1)" 966 987)
  ("(speed(agent2) 2)" 987 995)
  ("(speed(agent2) 3)" 995 1006)
  ("(speed(agent2) 4)" 1006 1036)
  ("(speed(agent2) 3)" 1036 1039)
  ("(speed(agent2) 2)" 1039 1047)
  ("(speed(agent2) 1)" 1047 1090)
  ("(speed(agent2) 2)" 1090 1097)
  ("(speed(agent2) 3)" 1097 1108)
  ("(speed(agent2) 4)" 1108 1137)
  ("(speed(agent2) 3)" 1137 1141)
  ("(speed(agent2) 2)" 1141 1149)
  ("(speed(agent2) 1)" 1149 1193)
  ("(speed(agent2) 2)" 1193 1205)
  ("(speed(agent2) 3)" 1205 1215)
  ("(speed(agent2) 4)" 1215 1240)
  ("(speed(agent2) 3)" 1240 1244)
  ("(speed(agent2) 2)" 1244 1248)
  ("(speed(agent2) 1)" 1248 1306)
  ("(speed(agent2) 2)" 1306 1314)
  ("(speed(agent2) 3)" 1314 1323)
  ("(speed(agent2) 4)" 1323 1348)
  ("(speed(agent2) 3)" 1348 1352)
  ("(speed(agent2) 2)" 1352 1355)
  ("(speed(agent2) 1)" 1355 1403)
  ("(speed(agent2) 2)" 1403 1406)
  ("(speed(agent2) 3)" 1406 1416)
  ("(speed(agent2) 4)" 1416 1449)
  ("(speed(agent2) 3)" 1449 1456)
  ("(speed(agent2) 2)" 1456 1466)
  ("(speed(agent2) 1)" 1466 1498)
  ("(speed(agent2) 2)" 1498 1502)
  ("(speed(agent2) 3)" 1502 1509)
  ("(speed(agent2) 4)" 1509 1545)
  ("(speed(agent2) 3)" 1545 1554)
  ("(speed(agent2) 2)" 1554 1564)
  ("(speed(agent2) 1)" 1564 1602)
  ("(speed(agent2) 2)" 1602 1612)
  ("(speed(agent2) 3)" 1612 1621)
  ("(speed(agent2) 4)" 1621 1636)
  ("(speed(agent2) 5)" 1636 1637)
  ("(speed(agent2) 4)" 1637 1647)
  ("(speed(agent2) 3)" 1647 1650)
  ("(speed(agent2) 2)" 1650 1654)
  ("(speed(agent2) 1)" 1654 1705)
  ("(speed(agent2) 2)" 1705 1715)
  ("(speed(agent2) 3)" 1715 1726)
  ("(speed(agent2) 4)" 1726 1752)
  ("(speed(agent2) 3)" 1752 1756)
  ("(speed(agent2) 2)" 1756 1759)
  ("(speed(agent2) 1)" 1759 1805)
  ("(speed(agent2) 2)" 1805 1808)
  ("(speed(agent2) 3)" 1808 1812)
  ("(speed(agent2) 4)" 1812 1851)
  ("(speed(agent2) 3)" 1851 1855)
  ("(speed(agent2) 2)" 1855 1874)
  ("(speed(agent2) 3)" 1874 1894)
  ("(speed(agent2) 4)" 1894 1900)
  ("(speed(agent2) 5)" 1900 1908)
  ("(speed(agent2) down)" 77 112)
  ("(speed(agent2) up)" 112 120)
  ("(speed(agent2) down)" 120 125)
  ("(speed(agent2) up)" 125 158)
  ("(speed(agent2) stable)" 158 159)
  ("(speed(agent2) down)" 159 208)
  ("(speed(agent2) up)" 208 259)
  ("(speed(agent2) stable)" 259 260)
  ("(speed(agent2) down)" 260 311)
  ("(speed(agent2) up)" 311 361)
  ("(speed(agent2) down)" 361 411)
  ("(speed(agent2) stable)" 411 412)
  ("(speed(agent2) up)" 412 462)
  ("(speed(agent2) down)" 462 512)
  ("(speed(agent2) stable)" 512 513)
  ("(speed(agent2) up)" 513 566)
  ("(speed(agent2) down)" 566 617)
  ("(speed(agent2) stable)" 617 618)
  ("(speed(agent2) up)" 618 673)
  ("(speed(agent2) down)" 673 725)
  ("(speed(agent2) stable)" 725 726)
  ("(speed(agent2) up)" 726 776)
  ("(speed(agent2) down)" 776 827)
  ("(speed(agent2) up)" 827 875)
  ("(speed(agent2) down)" 875 925)
  ("(speed(agent2) stable)" 925 926)
  ("(speed(agent2) up)" 926 978)
  ("(speed(agent2) down)" 978 1026)
  ("(speed(agent2) stable)" 1026 1027)
  ("(speed(agent2) up)" 1027 1077)
  ("(speed(agent2) down)" 1077 1128)
  ("(speed(agent2) up)" 1128 1180)
  ("(speed(agent2) down)" 1180 1231)
  ("(speed(agent2) up)" 1231 1286)
  ("(speed(agent2) down)" 1286 1338)
  ("(speed(agent2) stable)" 1338 1339)
  ("(speed(agent2) up)" 1339 1389)
  ("(speed(agent2) down)" 1389 1440)
  ("(speed(agent2) up)" 1440 1486)
  ("(speed(agent2) stable)" 1486 1487)
  ("(speed(agent2) down)" 1487 1536)
  ("(speed(agent2) up)" 1536 1586)
  ("(speed(agent2) down)" 1586 1637)
  ("(speed(agent2) up)" 1637 1691)
  ("(speed(agent2) down)" 1691 1743)
  ("(speed(agent2) up)" 1743 1791)
  ("(speed(agent2) stable)" 1791 1792)
  ("(speed(agent2) down)" 1792 1842)
  ("(speed(agent2) up)" 1842 1864)
  ("(speed(agent2) down)" 1864 1908)
  ("(heading(agent2) 1)" 101 130)
  ("(heading(agent2) 2)" 130 133)
  ("(heading(agent2) 3)" 133 137)
  ("(heading(agent2) 4)" 137 142)
  ("(heading(agent2) 5)" 142 242)
  ("(heading(agent2) 4)" 242 263)
  ("(heading(agent2) 3)" 263 279)
  ("(heading(agent2) 2)" 279 307)
  ("(heading(agent2) 3)" 307 337)
  ("(heading(agent2) 4)" 337 362)
  ("(heading(agent2) 5)" 362 437)
  ("(heading(agent2) 4)" 437 533)
  ("(heading(agent2) 5)" 533 629)
  ("(heading(agent2) 4)" 629 646)
  ("(heading(agent2) 3)" 646 673)
  ("(heading(agent2) 2)" 673 737)
  ("(heading(agent2) 3)" 737 976)
  ("(heading(agent2) 2)" 976 1070)
  ("(heading(agent2) 1)" 1070 1184)
  ("(heading(agent2) 2)" 1184 1249)
  ("(heading(agent2) 1)" 1249 1355)
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  ("(distance(agent1 agent2) up)" 61 104)
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  ("(distance(agent1 agent2) stable)" 1279 1280)
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  ("(distance(agent1 agent2) down)" 1531 1578)
  ("(distance(agent1 agent2) up)" 1578 1632)
  ("(distance(agent1 agent2) stable)" 1632 1633)
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  ("(distance(agent1 agent2) up)" 1687 1738)
  ("(distance(agent1 agent2) stable)" 1738 1739)
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  ("(distance(agent1 agent2) stable)" 1797 1798)
  ("(distance(agent1 agent2) up)" 1798 1836)
  ("(distance(agent1 agent2) stable)" 1836 1837)
  ("(distance(agent1 agent2) down)" 1837 1885)
  ("(distance(agent1 agent2) stable)" 1885 1886)
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  ("(distance(agent1 agent2) stable)" 1937 1938)
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  ("(distance(agent1 agent2) stable)" 1986 1987)
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  ("(distance(agent1 agent2) stable)" 2035 2036)
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  ("(distance(agent1 agent2) stable)" 2101 2102)
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  ("(relativeX(agent1 agent2) stable)" 457 458)
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  ("(relativeX(agent1 agent2) up)" 666 721)
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  ("(relativeX(agent1 agent2) up)" 871 920)
  ("(relativeX(agent1 agent2) stable)" 920 921)
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  ("(relativeX(agent1 agent2) stable)" 968 969)
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  ("(relativeX(agent1 agent2) down)" 1123 1173)
  ("(relativeX(agent1 agent2) up)" 1173 1226)
  ("(relativeX(agent1 agent2) stable)" 1226 1227)
  ("(relativeX(agent1 agent2) down)" 1227 1279)
  ("(relativeX(agent1 agent2) stable)" 1279 1280)
  ("(relativeX(agent1 agent2) up)" 1280 1334)
  ("(relativeX(agent1 agent2) down)" 1334 1388)
  ("(relativeX(agent1 agent2) up)" 1388 1435)
  ("(relativeX(agent1 agent2) down)" 1435 1483)
  ("(relativeX(agent1 agent2) up)" 1483 1531)
  ("(relativeX(agent1 agent2) down)" 1531 1578)
  ("(relativeX(agent1 agent2) stable)" 1578 1579)
  ("(relativeX(agent1 agent2) up)" 1579 1632)
  ("(relativeX(agent1 agent2) stable)" 1632 1633)
  ("(relativeX(agent1 agent2) down)" 1633 1687)
  ("(relativeX(agent1 agent2) up)" 1687 1738)
  ("(relativeX(agent1 agent2) stable)" 1738 1739)
  ("(relativeX(agent1 agent2) down)" 1739 1796)
  ("(relativeX(agent1 agent2) up)" 1796 1836)
  ("(relativeX(agent1 agent2) stable)" 1836 1837)
  ("(relativeX(agent1 agent2) down)" 1837 1884)
  ("(relativeX(agent1 agent2) stable)" 1884 1885)
  ("(relativeX(agent1 agent2) up)" 1885 1908)
  ("(relativeY(agent1 agent2) 1)" 76 91)
  ("(relativeY(agent1 agent2) 2)" 91 123)
  ("(relativeY(agent1 agent2) 1)" 123 162)
  ("(relativeY(agent1 agent2) 2)" 162 170)
  ("(relativeY(agent1 agent2) 3)" 170 176)
  ("(relativeY(agent1 agent2) 4)" 176 185)
  ("(relativeY(agent1 agent2) 5)" 185 218)
  ("(relativeY(agent1 agent2) 4)" 218 226)
  ("(relativeY(agent1 agent2) 3)" 226 232)
  ("(relativeY(agent1 agent2) 2)" 232 241)
  ("(relativeY(agent1 agent2) 1)" 241 271)
  ("(relativeY(agent1 agent2) 2)" 271 280)
  ("(relativeY(agent1 agent2) 3)" 280 288)
  ("(relativeY(agent1 agent2) 4)" 288 323)
  ("(relativeY(agent1 agent2) 3)" 323 330)
  ("(relativeY(agent1 agent2) 2)" 330 340)
  ("(relativeY(agent1 agent2) 1)" 340 370)
  ("(relativeY(agent1 agent2) 2)" 370 379)
  ("(relativeY(agent1 agent2) 3)" 379 386)
  ("(relativeY(agent1 agent2) 4)" 386 398)
  ("(relativeY(agent1 agent2) 5)" 398 414)
  ("(relativeY(agent1 agent2) 4)" 414 425)
  ("(relativeY(agent1 agent2) 3)" 425 432)
  ("(relativeY(agent1 agent2) 2)" 432 442)
  ("(relativeY(agent1 agent2) 1)" 442 471)
  ("(relativeY(agent1 agent2) 2)" 471 479)
  ("(relativeY(agent1 agent2) 3)" 479 487)
  ("(relativeY(agent1 agent2) 4)" 487 498)
  ("(relativeY(agent1 agent2) 5)" 498 516)
  ("(relativeY(agent1 agent2) 4)" 516 527)
  ("(relativeY(agent1 agent2) 3)" 527 534)
  ("(relativeY(agent1 agent2) 2)" 534 543)
  ("(relativeY(agent1 agent2) 1)" 543 571)
  ("(relativeY(agent1 agent2) 2)" 571 579)
  ("(relativeY(agent1 agent2) 3)" 579 586)
  ("(relativeY(agent1 agent2) 4)" 586 594)
  ("(relativeY(agent1 agent2) 5)" 594 630)
  ("(relativeY(agent1 agent2) 4)" 630 637)
  ("(relativeY(agent1 agent2) 3)" 637 644)
  ("(relativeY(agent1 agent2) 2)" 644 653)
  ("(relativeY(agent1 agent2) 1)" 653 680)
  ("(relativeY(agent1 agent2) 2)" 680 688)
  ("(relativeY(agent1 agent2) 3)" 688 695)
  ("(relativeY(agent1 agent2) 4)" 695 703)
  ("(relativeY(agent1 agent2) 5)" 703 737)
  ("(relativeY(agent1 agent2) 4)" 737 745)
  ("(relativeY(agent1 agent2) 3)" 745 751)
  ("(relativeY(agent1 agent2) 2)" 751 761)
  ("(relativeY(agent1 agent2) 1)" 761 789)
  ("(relativeY(agent1 agent2) 2)" 789 799)
  ("(relativeY(agent1 agent2) 3)" 799 808)
  ("(relativeY(agent1 agent2) 4)" 808 834)
  ("(relativeY(agent1 agent2) 3)" 834 843)
  ("(relativeY(agent1 agent2) 2)" 843 853)
  ("(relativeY(agent1 agent2) 1)" 853 886)
  ("(relativeY(agent1 agent2) 2)" 886 894)
  ("(relativeY(agent1 agent2) 3)" 894 902)
  ("(relativeY(agent1 agent2) 4)" 902 937)
  ("(relativeY(agent1 agent2) 3)" 937 944)
  ("(relativeY(agent1 agent2) 2)" 944 954)
  ("(relativeY(agent1 agent2) 1)" 954 981)
  ("(relativeY(agent1 agent2) 2)" 981 989)
  ("(relativeY(agent1 agent2) 3)" 989 995)
  ("(relativeY(agent1 agent2) 4)" 995 1002)
  ("(relativeY(agent1 agent2) 5)" 1002 1039)
  ("(relativeY(agent1 agent2) 4)" 1039 1046)
  ("(relativeY(agent1 agent2) 3)" 1046 1052)
  ("(relativeY(agent1 agent2) 2)" 1052 1062)
  ("(relativeY(agent1 agent2) 1)" 1062 1082)
  ("(relativeY(agent1 agent2) 2)" 1082 1090)
  ("(relativeY(agent1 agent2) 3)" 1090 1096)
  ("(relativeY(agent1 agent2) 4)" 1096 1104)
  ("(relativeY(agent1 agent2) 5)" 1104 1140)
  ("(relativeY(agent1 agent2) 4)" 1140 1147)
  ("(relativeY(agent1 agent2) 3)" 1147 1153)
  ("(relativeY(agent1 agent2) 2)" 1153 1163)
  ("(relativeY(agent1 agent2) 1)" 1163 1183)
  ("(relativeY(agent1 agent2) 2)" 1183 1191)
  ("(relativeY(agent1 agent2) 3)" 1191 1197)
  ("(relativeY(agent1 agent2) 4)" 1197 1203)
  ("(relativeY(agent1 agent2) 5)" 1203 1247)
  ("(relativeY(agent1 agent2) 4)" 1247 1254)
  ("(relativeY(agent1 agent2) 3)" 1254 1260)
  ("(relativeY(agent1 agent2) 2)" 1260 1269)
  ("(relativeY(agent1 agent2) 1)" 1269 1289)
  ("(relativeY(agent1 agent2) 2)" 1289 1297)
  ("(relativeY(agent1 agent2) 3)" 1297 1302)
  ("(relativeY(agent1 agent2) 4)" 1302 1308)
  ("(relativeY(agent1 agent2) 5)" 1308 1357)
  ("(relativeY(agent1 agent2) 4)" 1357 1363)
  ("(relativeY(agent1 agent2) 3)" 1363 1369)
  ("(relativeY(agent1 agent2) 2)" 1369 1379)
  ("(relativeY(agent1 agent2) 1)" 1379 1395)
  ("(relativeY(agent1 agent2) 2)" 1395 1406)
  ("(relativeY(agent1 agent2) 3)" 1406 1412)
  ("(relativeY(agent1 agent2) 4)" 1412 1421)
  ("(relativeY(agent1 agent2) 5)" 1421 1448)
  ("(relativeY(agent1 agent2) 4)" 1448 1456)
  ("(relativeY(agent1 agent2) 3)" 1456 1462)
  ("(relativeY(agent1 agent2) 2)" 1462 1472)
  ("(relativeY(agent1 agent2) 1)" 1472 1493)
  ("(relativeY(agent1 agent2) 2)" 1493 1503)
  ("(relativeY(agent1 agent2) 3)" 1503 1509)
  ("(relativeY(agent1 agent2) 4)" 1509 1518)
  ("(relativeY(agent1 agent2) 5)" 1518 1542)
  ("(relativeY(agent1 agent2) 4)" 1542 1550)
  ("(relativeY(agent1 agent2) 3)" 1550 1557)
  ("(relativeY(agent1 agent2) 2)" 1557 1568)
  ("(relativeY(agent1 agent2) 1)" 1568 1586)
  ("(relativeY(agent1 agent2) 2)" 1586 1595)
  ("(relativeY(agent1 agent2) 3)" 1595 1600)
  ("(relativeY(agent1 agent2) 4)" 1600 1607)
  ("(relativeY(agent1 agent2) 5)" 1607 1656)
  ("(relativeY(agent1 agent2) 4)" 1656 1662)
  ("(relativeY(agent1 agent2) 3)" 1662 1668)
  ("(relativeY(agent1 agent2) 2)" 1668 1679)
  ("(relativeY(agent1 agent2) 1)" 1679 1693)
  ("(relativeY(agent1 agent2) 2)" 1693 1703)
  ("(relativeY(agent1 agent2) 3)" 1703 1708)
  ("(relativeY(agent1 agent2) 4)" 1708 1715)
  ("(relativeY(agent1 agent2) 5)" 1715 1759)
  ("(relativeY(agent1 agent2) 4)" 1759 1766)
  ("(relativeY(agent1 agent2) 3)" 1766 1771)
  ("(relativeY(agent1 agent2) 2)" 1771 1780)
  ("(relativeY(agent1 agent2) 1)" 1780 1819)
  ("(relativeY(agent1 agent2) 2)" 1819 1851)
  ("(relativeY(agent1 agent2) 1)" 1851 1908)
  ("(relativeY(agent1 agent2) down)" 77 108)
  ("(relativeY(agent1 agent2) up)" 108 145)
  ("(relativeY(agent1 agent2) down)" 145 202)
  ("(relativeY(agent1 agent2) stable)" 202 203)
  ("(relativeY(agent1 agent2) up)" 203 257)
  ("(relativeY(agent1 agent2) down)" 257 306)
  ("(relativeY(agent1 agent2) up)" 306 356)
  ("(relativeY(agent1 agent2) down)" 356 407)
  ("(relativeY(agent1 agent2) up)" 407 457)
  ("(relativeY(agent1 agent2) down)" 457 508)
  ("(relativeY(agent1 agent2) up)" 508 558)
  ("(relativeY(agent1 agent2) stable)" 558 559)
  ("(relativeY(agent1 agent2) down)" 559 612)
  ("(relativeY(agent1 agent2) stable)" 612 613)
  ("(relativeY(agent1 agent2) up)" 613 667)
  ("(relativeY(agent1 agent2) stable)" 667 668)
  ("(relativeY(agent1 agent2) down)" 668 721)
  ("(relativeY(agent1 agent2) up)" 721 775)
  ("(relativeY(agent1 agent2) stable)" 775 776)
  ("(relativeY(agent1 agent2) down)" 776 822)
  ("(relativeY(agent1 agent2) up)" 822 870)
  ("(relativeY(agent1 agent2) down)" 870 920)
  ("(relativeY(agent1 agent2) stable)" 920 921)
  ("(relativeY(agent1 agent2) up)" 921 968)
  ("(relativeY(agent1 agent2) stable)" 968 969)
  ("(relativeY(agent1 agent2) down)" 969 1022)
  ("(relativeY(agent1 agent2) up)" 1022 1072)
  ("(relativeY(agent1 agent2) stable)" 1072 1073)
  ("(relativeY(agent1 agent2) down)" 1073 1123)
  ("(relativeY(agent1 agent2) up)" 1123 1173)
  ("(relativeY(agent1 agent2) stable)" 1173 1174)
  ("(relativeY(agent1 agent2) down)" 1174 1226)
  ("(relativeY(agent1 agent2) stable)" 1226 1227)
  ("(relativeY(agent1 agent2) up)" 1227 1279)
  ("(relativeY(agent1 agent2) stable)" 1279 1280)
  ("(relativeY(agent1 agent2) down)" 1280 1334)
  ("(relativeY(agent1 agent2) up)" 1334 1388)
  ("(relativeY(agent1 agent2) down)" 1388 1435)
  ("(relativeY(agent1 agent2) up)" 1435 1483)
  ("(relativeY(agent1 agent2) down)" 1483 1531)
  ("(relativeY(agent1 agent2) up)" 1531 1578)
  ("(relativeY(agent1 agent2) down)" 1578 1633)
  ("(relativeY(agent1 agent2) up)" 1633 1686)
  ("(relativeY(agent1 agent2) stable)" 1686 1687)
  ("(relativeY(agent1 agent2) down)" 1687 1738)
  ("(relativeY(agent1 agent2) up)" 1738 1798)
  ("(relativeY(agent1 agent2) down)" 1798 1836)
  ("(relativeY(agent1 agent2) stable)" 1836 1837)
  ("(relativeY(agent1 agent2) up)" 1837 1885)
  ("(relativeY(agent1 agent2) stable)" 1885 1886)
  ("(relativeY(agent1 agent2) down)" 1886 1908)
  ("(x(wall2) 3)" 25 69)
  ("(x(wall2) 3)" 2112 2304)
  ("(x(wall2) stable)" 26 69)
  ("(x(wall2) stable)" 2113 2304)
  ("(y(wall2) 3)" 25 69)
  ("(y(wall2) 3)" 2112 2304)
  ("(y(wall2) stable)" 26 69)
  ("(y(wall2) stable)" 2113 2304)
  ("(speed(wall2) 3)" 25 69)
  ("(speed(wall2) 3)" 2112 2304)
  ("(speed(wall2) stable)" 26 69)
  ("(speed(wall2) stable)" 2113 2304)
  ("(heading(wall2) 3)" 2137 2279)
  ("(heading(wall2) stable)" 2138 2279)
  ("novel(agent1 wall2)" 2088 2168)
  ("(distance(agent1 wall2) 1)" 25 69)
  ("(distance(agent1 wall2) 2)" 2112 2152)
  ("(distance(agent1 wall2) 3)" 2152 2198)
  ("(distance(agent1 wall2) 4)" 2198 2249)
  ("(distance(agent1 wall2) 5)" 2249 2304)
  ("(distance(agent1 wall2) up)" 26 69)
  ("(distance(agent1 wall2) down)" 2113 2304)
  ("(relativeX(agent1 wall2) 5)" 25 69)
  ("(relativeX(agent1 wall2) 4)" 2112 2152)
  ("(relativeX(agent1 wall2) 3)" 2152 2198)
  ("(relativeX(agent1 wall2) 2)" 2198 2249)
  ("(relativeX(agent1 wall2) 1)" 2249 2304)
  ("(relativeX(agent1 wall2) down)" 26 69)
  ("(relativeX(agent1 wall2) up)" 2113 2304)
  ("(relativeY(agent1 wall2) 1)" 25 69)
  ("(relativeY(agent1 wall2) 3)" 2112 2175)
  ("(relativeY(agent1 wall2) 4)" 2175 2270)
  ("(relativeY(agent1 wall2) 5)" 2270 2304)
  ("(relativeY(agent1 wall2) up)" 26 48)
  ("(relativeY(agent1 wall2) stable)" 48 55)
  ("(relativeY(agent1 wall2) down)" 55 69)
  ("(relativeY(agent1 wall2) down)" 2113 2304)
 ))
(20
 (
  ("(x(agent1) 1)" 25 68)
  ("(x(agent1) 2)" 68 99)
  ("(x(agent1) 3)" 99 125)
  ("(x(agent1) 4)" 125 156)
  ("(x(agent1) 5)" 156 528)
  ("(x(agent1) 4)" 528 558)
  ("(x(agent1) 3)" 558 581)
  ("(x(agent1) 2)" 581 608)
  ("(x(agent1) 1)" 608 890)
  ("(x(agent1) 2)" 890 968)
  ("(x(agent1) 3)" 968 1667)
  ("(x(agent1) 2)" 1667 1699)
  ("(x(agent1) 3)" 1699 1749)
  ("(x(agent1) 2)" 1749 1791)
  ("(x(agent1) 3)" 1791 1843)
  ("(x(agent1) 2)" 1843 1898)
  ("(x(agent1) 3)" 1898 1944)
  ("(x(agent1) 2)" 1944 2024)
  ("(x(agent1) 3)" 2024 2037)
  ("(x(agent1) 2)" 2037 2325)
  ("(x(agent1) down)" 26 333)
  ("(x(agent1) stable)" 333 351)
  ("(x(agent1) up)" 351 653)
  ("(x(agent1) stable)" 653 659)
  ("(x(agent1) down)" 659 713)
  ("(x(agent1) stable)" 713 720)
  ("(x(agent1) up)" 720 802)
  ("(x(agent1) stable)" 802 811)
  ("(x(agent1) down)" 811 1001)
  ("(x(agent1) stable)" 1001 1010)
  ("(x(agent1) up)" 1010 1045)
  ("(x(agent1) stable)" 1045 1056)
  ("(x(agent1) down)" 1056 1097)
  ("(x(agent1) stable)" 1097 1108)
  ("(x(agent1) up)" 1108 1137)
  ("(x(agent1) stable)" 1137 1150)
  ("(x(agent1) down)" 1150 1196)
  ("(x(agent1) stable)" 1196 1207)
  ("(x(agent1) up)" 1207 1252)
  ("(x(agent1) stable)" 1252 1262)
  ("(x(agent1) down)" 1262 1304)
  ("(x(agent1) stable)" 1304 1314)
  ("(x(agent1) up)" 1314 1361)
  ("(x(agent1) stable)" 1361 1372)
  ("(x(agent1) down)" 1372 1407)
  ("(x(agent1) stable)" 1407 1418)
  ("(x(agent1) up)" 1418 1459)
  ("(x(agent1) stable)" 1459 1470)
  ("(x(agent1) down)" 1470 1511)
  ("(x(agent1) stable)" 1511 1521)
  ("(x(agent1) up)" 1521 1570)
  ("(x(agent1) stable)" 1570 1580)
  ("(x(agent1) down)" 1580 1620)
  ("(x(agent1) stable)" 1620 1631)
  ("(x(agent1) up)" 1631 1678)
  ("(x(agent1) stable)" 1678 1689)
  ("(x(agent1) down)" 1689 1721)
  ("(x(agent1) stable)" 1721 1731)
  ("(x(agent1) up)" 1731 1766)
  ("(x(agent1) stable)" 1766 1776)
  ("(x(agent1) down)" 1776 1815)
  ("(x(agent1) stable)" 1815 1824)
  ("(x(agent1) up)" 1824 1868)
  ("(x(agent1) stable)" 1868 1876)
  ("(x(agent1) down)" 1876 1918)
  ("(x(agent1) stable)" 1918 1927)
  ("(x(agent1) up)" 1927 1977)
  ("(x(agent1) stable)" 1977 1985)
  ("(x(agent1) down)" 1985 2027)
  ("(x(agent1) stable)" 2027 2035)
  ("(x(agent1) up)" 2035 2087)
  ("(x(agent1) stable)" 2087 2095)
  ("(x(agent1) down)" 2095 2131)
  ("(x(agent1) stable)" 2131 2139)
  ("(x(agent1) up)" 2139 2185)
  ("(x(agent1) stable)" 2185 2193)
  ("(x(agent1) down)" 2193 2232)
  ("(x(agent1) stable)" 2232 2241)
  ("(x(agent1) up)" 2241 2307)
  ("(x(agent1) stable)" 2307 2315)
  ("(x(agent1) up)" 2315 2325)
  ("(y(agent1) 1)" 25 382)
  ("(y(agent1) 2)" 382 455)
  ("(y(agent1) 3)" 455 524)
  ("(y(agent1) 4)" 524 2325)
  ("(y(agent1) down)" 26 635)
  ("(y(agent1) stable)" 635 652)
  ("(y(agent1) up)" 652 725)
  ("(y(agent1) stable)" 725 774)
  ("(y(agent1) up)" 774 831)
  ("(y(agent1) stable)" 831 878)
  ("(y(agent1) up)" 878 903)
  ("(y(agent1) stable)" 903 921)
  ("(y(agent1) down)" 921 945)
  ("(y(agent1) stable)" 945 963)
  ("(y(agent1) up)" 963 995)
  ("(y(agent1) stable)" 995 1010)
  ("(y(agent1) down)" 1010 1040)
  ("(y(agent1) stable)" 1040 1056)
  ("(y(agent1) up)" 1056 1091)
  ("(y(agent1) stable)" 1091 1105)
  ("(y(agent1) down)" 1105 1141)
  ("(y(agent1) stable)" 1141 1154)
  ("(y(agent1) up)" 1154 1195)
  ("(y(agent1) stable)" 1195 1209)
  ("(y(agent1) down)" 1209 1249)
  ("(y(agent1) stable)" 1249 1262)
  ("(y(agent1) up)" 1262 1304)
  ("(y(agent1) stable)" 1304 1317)
  ("(y(agent1) down)" 1317 1359)
  ("(y(agent1) stable)" 1359 1372)
  ("(y(agent1) up)" 1372 1407)
  ("(y(agent1) stable)" 1407 1421)
  ("(y(agent1) down)" 1421 1456)
  ("(y(agent1) stable)" 1456 1470)
  ("(y(agent1) up)" 1470 1512)
  ("(y(agent1) stable)" 1512 1525)
  ("(y(agent1) down)" 1525 1567)
  ("(y(agent1) stable)" 1567 1580)
  ("(y(agent1) up)" 1580 1621)
  ("(y(agent1) stable)" 1621 1635)
  ("(y(agent1) down)" 1635 1675)
  ("(y(agent1) stable)" 1675 1689)
  ("(y(agent1) up)" 1689 1722)
  ("(y(agent1) stable)" 1722 1735)
  ("(y(agent1) down)" 1735 1762)
  ("(y(agent1) stable)" 1762 1775)
  ("(y(agent1) up)" 1775 1816)
  ("(y(agent1) stable)" 1816 1827)
  ("(y(agent1) down)" 1827 1864)
  ("(y(agent1) stable)" 1864 1875)
  ("(y(agent1) up)" 1875 1920)
  ("(y(agent1) stable)" 1920 1931)
  ("(y(agent1) down)" 1931 1974)
  ("(y(agent1) stable)" 1974 1984)
  ("(y(agent1) up)" 1984 2028)
  ("(y(agent1) stable)" 2028 2039)
  ("(y(agent1) down)" 2039 2084)
  ("(y(agent1) stable)" 2084 2094)
  ("(y(agent1) up)" 2094 2132)
  ("(y(agent1) stable)" 2132 2143)
  ("(y(agent1) down)" 2143 2181)
  ("(y(agent1) stable)" 2181 2192)
  ("(y(agent1) up)" 2192 2234)
  ("(y(agent1) stable)" 2234 2245)
  ("(y(agent1) down)" 2245 2295)
  ("(y(agent1) stable)" 2295 2325)
  ("(speed(agent1) 4)" 25 33)
  ("(speed(agent1) 3)" 33 46)
  ("(speed(agent1) 2)" 46 69)
  ("(speed(agent1) 1)" 69 613)
  ("(speed(agent1) 2)" 613 623)
  ("(speed(agent1) 3)" 623 631)
  ("(speed(agent1) 4)" 631 646)
  ("(speed(agent1) 5)" 646 665)
  ("(speed(agent1) 4)" 665 712)
  ("(speed(agent1) 5)" 712 820)
  ("(speed(agent1) 4)" 820 986)
  ("(speed(agent1) 5)" 986 1018)
  ("(speed(agent1) 4)" 1018 1083)
  ("(speed(agent1) 5)" 1083 1113)
  ("(speed(agent1) 4)" 1113 1191)
  ("(speed(agent1) 5)" 1191 1217)
  ("(speed(agent1) 4)" 1217 1255)
  ("(speed(agent1) 3)" 1255 1267)
  ("(speed(agent1) 4)" 1267 1300)
  ("(speed(agent1) 5)" 1300 1325)
  ("(speed(agent1) 4)" 1325 1361)
  ("(speed(agent1) 3)" 1361 1371)
  ("(speed(agent1) 4)" 1371 1399)
  ("(speed(agent1) 5)" 1399 1429)
  ("(speed(agent1) 4)" 1429 1508)
  ("(speed(agent1) 5)" 1508 1533)
  ("(speed(agent1) 4)" 1533 1617)
  ("(speed(agent1) 5)" 1617 1642)
  ("(speed(agent1) 4)" 1642 1767)
  ("(speed(agent1) 3)" 1767 1787)
  ("(speed(agent1) 4)" 1787 1849)
  ("(speed(agent1) 3)" 1849 1898)
  ("(speed(agent1) 4)" 1898 1947)
  ("(speed(agent1) 3)" 1947 2007)
  ("(speed(agent1) 4)" 2007 2055)
  ("(speed(agent1) 3)" 2055 2105)
  ("(speed(agent1) 4)" 2105 2167)
  ("(speed(agent1) 3)" 2167 2205)
  ("(speed(agent1) 4)" 2205 2265)
  ("(speed(agent1) 3)" 2265 2278)
  ("(speed(agent1) 4)" 2278 2297)
  ("(speed(agent1) 5)" 2297 2325)
  ("(speed(agent1) up)" 26 209)
  ("(speed(agent1) stable)" 209 575)
  ("(speed(agent1) down)" 575 655)
  ("(speed(agent1) up)" 655 689)
  ("(speed(agent1) stable)" 689 690)
  ("(speed(agent1) down)" 690 742)
  ("(speed(agent1) stable)" 742 746)
  ("(speed(agent1) up)" 746 781)
  ("(speed(agent1) down)" 781 799)
  ("(speed(agent1) stable)" 799 800)
  ("(speed(agent1) up)" 800 879)
  ("(speed(agent1) stable)" 879 880)
  ("(speed(agent1) down)" 880 895)
  ("(speed(agent1) up)" 895 912)
  ("(speed(agent1) stable)" 912 922)
  ("(speed(agent1) down)" 922 936)
  ("(speed(agent1) stable)" 936 937)
  ("(speed(agent1) up)" 937 960)
  ("(speed(agent1) down)" 960 1008)
  ("(speed(agent1) stable)" 1008 1009)
  ("(speed(agent1) up)" 1009 1020)
  ("(speed(agent1) stable)" 1020 1021)
  ("(speed(agent1) up)" 1021 1054)
  ("(speed(agent1) stable)" 1054 1055)
  ("(speed(agent1) down)" 1055 1103)
  ("(speed(agent1) stable)" 1103 1104)
  ("(speed(agent1) up)" 1104 1155)
  ("(speed(agent1) stable)" 1155 1156)
  ("(speed(agent1) down)" 1156 1206)
  ("(speed(agent1) stable)" 1206 1207)
  ("(speed(agent1) up)" 1207 1262)
  ("(speed(agent1) stable)" 1262 1263)
  ("(speed(agent1) down)" 1263 1315)
  ("(speed(agent1) up)" 1315 1367)
  ("(speed(agent1) stable)" 1367 1368)
  ("(speed(agent1) down)" 1368 1418)
  ("(speed(agent1) stable)" 1418 1419)
  ("(speed(agent1) up)" 1419 1471)
  ("(speed(agent1) stable)" 1471 1472)
  ("(speed(agent1) down)" 1472 1522)
  ("(speed(agent1) stable)" 1522 1523)
  ("(speed(agent1) up)" 1523 1579)
  ("(speed(agent1) stable)" 1579 1580)
  ("(speed(agent1) down)" 1580 1632)
  ("(speed(agent1) stable)" 1632 1633)
  ("(speed(agent1) up)" 1633 1684)
  ("(speed(agent1) down)" 1684 1719)
  ("(speed(agent1) stable)" 1719 1724)
  ("(speed(agent1) up)" 1724 1741)
  ("(speed(agent1) down)" 1741 1745)
  ("(speed(agent1) up)" 1745 1778)
  ("(speed(agent1) down)" 1778 1826)
  ("(speed(agent1) stable)" 1826 1827)
  ("(speed(agent1) up)" 1827 1878)
  ("(speed(agent1) stable)" 1878 1879)
  ("(speed(agent1) down)" 1879 1929)
  ("(speed(agent1) stable)" 1929 1930)
  ("(speed(agent1) up)" 1930 1985)
  ("(speed(agent1) stable)" 1985 1986)
  ("(speed(agent1) down)" 1986 2038)
  ("(speed(agent1) up)" 2038 2090)
  ("(speed(agent1) stable)" 2090 2091)
  ("(speed(agent1) down)" 2091 2142)
  ("(speed(agent1) stable)" 2142 2143)
  ("(speed(agent1) up)" 2143 2193)
  ("(speed(agent1) down)" 2193 2244)
  ("(speed(agent1) up)" 2244 2271)
  ("(speed(agent1) stable)" 2271 2272)
  ("(speed(agent1) down)" 2272 2318)
  ("(speed(agent1) stable)" 2318 2322)
  ("(speed(agent1) up)" 2322 2325)
  ("(heading(agent1) 5)" 50 302)
  ("(heading(agent1) 4)" 302 364)
  ("(heading(agent1) 3)" 364 418)
  ("(heading(agent1) 2)" 418 478)
  ("(heading(agent1) 1)" 478 901)
  ("(heading(agent1) 2)" 901 937)
  ("(heading(agent1) 3)" 937 2300)
  ("(heading(agent1) up)" 51 577)
  ("(heading(agent1) stable)" 577 607)
  ("(heading(agent1) down)" 607 666)
  ("(heading(agent1) stable)" 666 669)
  ("(heading(agent1) down)" 669 729)
  ("(heading(agent1) stable)" 729 741)
  ("(heading(agent1) up)" 741 830)
  ("(heading(agent1) stable)" 830 843)
  ("(heading(agent1) down)" 843 973)
  ("(heading(agent1) stable)" 973 986)
  ("(heading(agent1) up)" 986 1026)
  ("(heading(agent1) stable)" 1026 2277)
  ("(heading(agent1) up)" 2277 2300)
  ("(energy(agent1) 1)" 25 815)
  ("(energy(agent1) 2)" 815 1121)
  ("(energy(agent1) 3)" 1121 1446)
  ("(energy(agent1) 4)" 1446 1778)
  ("(energy(agent1) 5)" 1778 2325)
  ("(energy(agent1) stable)" 26 782)
  ("(energy(agent1) down)" 782 833)
  ("(energy(agent1) stable)" 833 845)
  ("(energy(agent1) down)" 845 896)
  ("(energy(agent1) stable)" 896 925)
  ("(energy(agent1) down)" 925 976)
  ("(energy(agent1) stable)" 976 1021)
  ("(energy(agent1) down)" 1021 1072)
  ("(energy(agent1) stable)" 1072 1119)
  ("(energy(agent1) down)" 1119 1170)
  ("(energy(agent1) stable)" 1170 1227)
  ("(energy(agent1) down)" 1227 1278)
  ("(energy(agent1) stable)" 1278 1336)
  ("(energy(agent1) down)" 1336 1387)
  ("(energy(agent1) stable)" 1387 1435)
  ("(energy(agent1) down)" 1435 1486)
  ("(energy(agent1) stable)" 1486 1544)
  ("(energy(agent1) down)" 1544 1595)
  ("(energy(agent1) stable)" 1595 1652)
  ("(energy(agent1) down)" 1652 1703)
  ("(energy(agent1) stable)" 1703 1742)
  ("(energy(agent1) down)" 1742 1793)
  ("(energy(agent1) stable)" 1793 1842)
  ("(energy(agent1) down)" 1842 1893)
  ("(energy(agent1) stable)" 1893 1950)
  ("(energy(agent1) down)" 1950 2001)
  ("(energy(agent1) stable)" 2001 2059)
  ("(energy(agent1) down)" 2059 2110)
  ("(energy(agent1) stable)" 2110 2158)
  ("(energy(agent1) down)" 2158 2209)
  ("(energy(agent1) stable)" 2209 2261)
  ("(energy(agent1) down)" 2261 2263)
  ("(energy(agent1) stable)" 2263 2325)
  ("(arousal(agent1) 5)" 25 825)
  ("(arousal(agent1) 4)" 825 888)
  ("(arousal(agent1) 3)" 888 955)
  ("(arousal(agent1) 2)" 955 1845)
  ("(arousal(agent1) 1)" 1845 1925)
  ("(arousal(agent1) 2)" 1925 1946)
  ("(arousal(agent1) 1)" 1946 2325)
  ("(arousal(agent1) down)" 26 373)
  ("(arousal(agent1) stable)" 373 388)
  ("(arousal(agent1) up)" 388 491)
  ("(arousal(agent1) stable)" 491 507)
  ("(arousal(agent1) down)" 507 755)
  ("(arousal(agent1) stable)" 755 774)
  ("(arousal(agent1) up)" 774 895)
  ("(arousal(agent1) stable)" 895 902)
  ("(arousal(agent1) up)" 902 979)
  ("(arousal(agent1) stable)" 979 999)
  ("(arousal(agent1) down)" 999 1020)
  ("(arousal(agent1) up)" 1020 1071)
  ("(arousal(agent1) down)" 1071 1118)
  ("(arousal(agent1) up)" 1118 1169)
  ("(arousal(agent1) down)" 1169 1226)
  ("(arousal(agent1) up)" 1226 1277)
  ("(arousal(agent1) down)" 1277 1335)
  ("(arousal(agent1) up)" 1335 1386)
  ("(arousal(agent1) down)" 1386 1434)
  ("(arousal(agent1) up)" 1434 1485)
  ("(arousal(agent1) down)" 1485 1543)
  ("(arousal(agent1) up)" 1543 1594)
  ("(arousal(agent1) down)" 1594 1651)
  ("(arousal(agent1) up)" 1651 1702)
  ("(arousal(agent1) down)" 1702 1741)
  ("(arousal(agent1) up)" 1741 1792)
  ("(arousal(agent1) down)" 1792 1806)
  ("(arousal(agent1) stable)" 1806 1826)
  ("(arousal(agent1) up)" 1826 1863)
  ("(arousal(agent1) stable)" 1863 1906)
  ("(arousal(agent1) down)" 1906 1923)
  ("(arousal(agent1) stable)" 1923 1957)
  ("(arousal(agent1) up)" 1957 1974)
  ("(arousal(agent1) stable)" 1974 2220)
  ("(arousal(agent1) down)" 2220 2224)
  ("(arousal(agent1) stable)" 2224 2271)
  ("(arousal(agent1) up)" 2271 2275)
  ("(arousal(agent1) stable)" 2275 2313)
  ("(arousal(agent1) down)" 2313 2325)
  ("(valence(agent1) 5)" 25 827)
  ("(valence(agent1) 4)" 827 929)
  ("(valence(agent1) 3)" 929 966)
  ("(valence(agent1) 2)" 966 1066)
  ("(valence(agent1) 1)" 1066 1095)
  ("(valence(agent1) 2)" 1095 1142)
  ("(valence(agent1) 1)" 1142 1193)
  ("(valence(agent1) 2)" 1193 1254)
  ("(valence(agent1) 1)" 1254 1301)
  ("(valence(agent1) 2)" 1301 1364)
  ("(valence(agent1) 1)" 1364 1410)
  ("(valence(agent1) 2)" 1410 1458)
  ("(valence(agent1) 1)" 1458 1509)
  ("(valence(agent1) 2)" 1509 1572)
  ("(valence(agent1) 1)" 1572 1618)
  ("(valence(agent1) 2)" 1618 1679)
  ("(valence(agent1) 1)" 1679 1726)
  ("(valence(agent1) 2)" 1726 1759)
  ("(valence(agent1) 1)" 1759 1816)
  ("(valence(agent1) 2)" 1816 1866)
  ("(valence(agent1) 1)" 1866 1916)
  ("(valence(agent1) 2)" 1916 1977)
  ("(valence(agent1) 1)" 1977 2024)
  ("(valence(agent1) 2)" 2024 2087)
  ("(valence(agent1) 1)" 2087 2133)
  ("(valence(agent1) 2)" 2133 2181)
  ("(valence(agent1) 1)" 2181 2232)
  ("(valence(agent1) 2)" 2232 2286)
  ("(valence(agent1) 1)" 2286 2325)
  ("(valence(agent1) stable)" 26 781)
  ("(valence(agent1) up)" 781 832)
  ("(valence(agent1) down)" 832 844)
  ("(valence(agent1) up)" 844 895)
  ("(valence(agent1) down)" 895 924)
  ("(valence(agent1) up)" 924 975)
  ("(valence(agent1) down)" 975 1020)
  ("(valence(agent1) up)" 1020 1071)
  ("(valence(agent1) down)" 1071 1118)
  ("(valence(agent1) up)" 1118 1169)
  ("(valence(agent1) down)" 1169 1226)
  ("(valence(agent1) up)" 1226 1277)
  ("(valence(agent1) down)" 1277 1335)
  ("(valence(agent1) up)" 1335 1386)
  ("(valence(agent1) down)" 1386 1434)
  ("(valence(agent1) up)" 1434 1485)
  ("(valence(agent1) down)" 1485 1543)
  ("(valence(agent1) up)" 1543 1594)
  ("(valence(agent1) down)" 1594 1651)
  ("(valence(agent1) up)" 1651 1702)
  ("(valence(agent1) down)" 1702 1741)
  ("(valence(agent1) up)" 1741 1792)
  ("(valence(agent1) down)" 1792 1841)
  ("(valence(agent1) up)" 1841 1892)
  ("(valence(agent1) down)" 1892 1949)
  ("(valence(agent1) up)" 1949 2000)
  ("(valence(agent1) down)" 2000 2058)
  ("(valence(agent1) up)" 2058 2109)
  ("(valence(agent1) down)" 2109 2157)
  ("(valence(agent1) up)" 2157 2208)
  ("(valence(agent1) down)" 2208 2260)
  ("(valence(agent1) up)" 2260 2311)
  ("(valence(agent1) down)" 2311 2325)
  ("(goal(agent1) WanderGoal)" 0 772)
  ("(goal(agent1) PursueGoal)" 772 2287)
  ("(goal(agent1) WanderGoal)" 2287 2350)
  ("(state(agent1) wander)" 0 772)
  ("(state(agent1) charge)" 772 806)
  ("(state(agent1) back-away)" 806 836)
  ("(state(agent1) charge)" 836 869)
  ("(state(agent1) back-away)" 869 897)
  ("(state(agent1) charge)" 897 949)
  ("(state(agent1) back-away)" 949 979)
  ("(state(agent1) charge)" 979 1044)
  ("(state(agent1) back-away)" 1044 1074)
  ("(state(agent1) charge)" 1074 1142)
  ("(state(agent1) back-away)" 1142 1176)
  ("(state(agent1) charge)" 1176 1250)
  ("(state(agent1) back-away)" 1250 1284)
  ("(state(agent1) charge)" 1284 1359)
  ("(state(agent1) back-away)" 1359 1389)
  ("(state(agent1) charge)" 1389 1458)
  ("(state(agent1) back-away)" 1458 1492)
  ("(state(agent1) charge)" 1492 1568)
  ("(state(agent1) back-away)" 1568 1602)
  ("(state(agent1) charge)" 1602 1676)
  ("(state(agent1) back-away)" 1676 1706)
  ("(state(agent1) charge)" 1706 1766)
  ("(state(agent1) back-away)" 1766 1797)
  ("(state(agent1) charge)" 1797 1865)
  ("(state(agent1) back-away)" 1865 1899)
  ("(state(agent1) charge)" 1899 1973)
  ("(state(agent1) back-away)" 1973 2007)
  ("(state(agent1) charge)" 2007 2083)
  ("(state(agent1) back-away)" 2083 2113)
  ("(state(agent1) charge)" 2113 2182)
  ("(state(agent1) back-away)" 2182 2214)
  ("(state(agent1) charge)" 2214 2284)
  ("(state(agent1) back-away)" 2284 2287)
  ("(state(agent1) wander)" 2287 2350)
  ("(x(agent2) 3)" 924 943)
  ("(x(agent2) 4)" 943 968)
  ("(x(agent2) 3)" 968 1009)
  ("(x(agent2) 4)" 1009 1029)
  ("(x(agent2) 5)" 1029 1184)
  ("(x(agent2) 4)" 1184 1219)
  ("(x(agent2) 5)" 1219 1288)
  ("(x(agent2) 4)" 1288 1334)
  ("(x(agent2) 5)" 1334 1392)
  ("(x(agent2) 4)" 1392 1438)
  ("(x(agent2) 5)" 1438 1481)
  ("(x(agent2) 4)" 1481 1504)
  ("(x(agent2) 3)" 1504 1535)
  ("(x(agent2) 4)" 1535 1564)
  ("(x(agent2) 5)" 1564 1580)
  ("(x(agent2) 4)" 1580 1603)
  ("(x(agent2) 3)" 1603 1655)
  ("(x(agent2) 4)" 1655 1703)
  ("(x(agent2) 3)" 1703 1753)
  ("(x(agent2) 4)" 1753 1783)
  ("(x(agent2) 3)" 1783 1800)
  ("(x(agent2) 2)" 1800 1846)
  ("(x(agent2) 3)" 1846 1887)
  ("(x(agent2) 2)" 1887 1903)
  ("(x(agent2) 1)" 1903 1951)
  ("(x(agent2) 2)" 1951 2000)
  ("(x(agent2) 1)" 2000 2074)
  ("(x(agent2) 2)" 2074 2100)
  ("(x(agent2) 1)" 2100 2325)
  ("(x(agent2) down)" 925 954)
  ("(x(agent2) stable)" 954 956)
  ("(x(agent2) up)" 956 991)
  ("(x(agent2) stable)" 991 993)
  ("(x(agent2) down)" 993 1056)
  ("(x(agent2) stable)" 1056 1058)
  ("(x(agent2) up)" 1058 1096)
  ("(x(agent2) stable)" 1096 1098)
  ("(x(agent2) down)" 1098 1145)
  ("(x(agent2) stable)" 1145 1147)
  ("(x(agent2) up)" 1147 1201)
  ("(x(agent2) stable)" 1201 1203)
  ("(x(agent2) down)" 1203 1255)
  ("(x(agent2) stable)" 1255 1256)
  ("(x(agent2) up)" 1256 1311)
  ("(x(agent2) stable)" 1311 1312)
  ("(x(agent2) down)" 1312 1363)
  ("(x(agent2) stable)" 1363 1364)
  ("(x(agent2) up)" 1364 1415)
  ("(x(agent2) stable)" 1415 1416)
  ("(x(agent2) down)" 1416 1461)
  ("(x(agent2) stable)" 1461 1463)
  ("(x(agent2) up)" 1463 1519)
  ("(x(agent2) stable)" 1519 1521)
  ("(x(agent2) down)" 1521 1572)
  ("(x(agent2) stable)" 1572 1573)
  ("(x(agent2) up)" 1573 1629)
  ("(x(agent2) stable)" 1629 1630)
  ("(x(agent2) down)" 1630 1680)
  ("(x(agent2) stable)" 1680 1681)
  ("(x(agent2) up)" 1681 1728)
  ("(x(agent2) stable)" 1728 1729)
  ("(x(agent2) down)" 1729 1768)
  ("(x(agent2) stable)" 1768 1770)
  ("(x(agent2) up)" 1770 1823)
  ("(x(agent2) stable)" 1823 1824)
  ("(x(agent2) down)" 1824 1868)
  ("(x(agent2) stable)" 1868 1869)
  ("(x(agent2) up)" 1869 1927)
  ("(x(agent2) stable)" 1927 1928)
  ("(x(agent2) down)" 1928 1977)
  ("(x(agent2) stable)" 1977 1978)
  ("(x(agent2) up)" 1978 2035)
  ("(x(agent2) stable)" 2035 2036)
  ("(x(agent2) down)" 2036 2087)
  ("(x(agent2) stable)" 2087 2088)
  ("(x(agent2) up)" 2088 2139)
  ("(x(agent2) stable)" 2139 2140)
  ("(x(agent2) down)" 2140 2185)
  ("(x(agent2) stable)" 2185 2186)
  ("(x(agent2) up)" 2186 2241)
  ("(x(agent2) stable)" 2241 2242)
  ("(x(agent2) down)" 2242 2288)
  ("(x(agent2) stable)" 2288 2289)
  ("(x(agent2) up)" 2289 2325)
  ("(y(agent2) 2)" 924 932)
  ("(y(agent2) 1)" 932 968)
  ("(y(agent2) 2)" 968 978)
  ("(y(agent2) 3)" 978 987)
  ("(y(agent2) 4)" 987 1018)
  ("(y(agent2) 3)" 1018 1027)
  ("(y(agent2) 2)" 1027 1046)
  ("(y(agent2) 1)" 1046 1048)
  ("(y(agent2) 2)" 1048 1066)
  ("(y(agent2) 3)" 1066 1073)
  ("(y(agent2) 4)" 1073 1083)
  ("(y(agent2) 5)" 1083 1113)
  ("(y(agent2) 4)" 1113 1122)
  ("(y(agent2) 3)" 1122 1131)
  ("(y(agent2) 2)" 1131 1162)
  ("(y(agent2) 3)" 1162 1169)
  ("(y(agent2) 4)" 1169 1177)
  ("(y(agent2) 5)" 1177 1225)
  ("(y(agent2) 4)" 1225 1233)
  ("(y(agent2) 3)" 1233 1241)
  ("(y(agent2) 2)" 1241 1269)
  ("(y(agent2) 3)" 1269 1277)
  ("(y(agent2) 4)" 1277 1284)
  ("(y(agent2) 5)" 1284 1334)
  ("(y(agent2) 4)" 1334 1341)
  ("(y(agent2) 3)" 1341 1349)
  ("(y(agent2) 2)" 1349 1381)
  ("(y(agent2) 3)" 1381 1388)
  ("(y(agent2) 4)" 1388 1398)
  ("(y(agent2) 5)" 1398 1428)
  ("(y(agent2) 4)" 1428 1437)
  ("(y(agent2) 3)" 1437 1445)
  ("(y(agent2) 2)" 1445 1480)
  ("(y(agent2) 3)" 1480 1487)
  ("(y(agent2) 4)" 1487 1495)
  ("(y(agent2) 5)" 1495 1539)
  ("(y(agent2) 4)" 1539 1546)
  ("(y(agent2) 3)" 1546 1553)
  ("(y(agent2) 2)" 1553 1565)
  ("(y(agent2) 1)" 1565 1582)
  ("(y(agent2) 2)" 1582 1592)
  ("(y(agent2) 3)" 1592 1599)
  ("(y(agent2) 4)" 1599 1608)
  ("(y(agent2) 5)" 1608 1646)
  ("(y(agent2) 4)" 1646 1653)
  ("(y(agent2) 3)" 1653 1660)
  ("(y(agent2) 2)" 1660 1671)
  ("(y(agent2) 1)" 1671 1692)
  ("(y(agent2) 2)" 1692 1704)
  ("(y(agent2) 3)" 1704 1713)
  ("(y(agent2) 4)" 1713 1737)
  ("(y(agent2) 3)" 1737 1745)
  ("(y(agent2) 2)" 1745 1755)
  ("(y(agent2) 1)" 1755 1785)
  ("(y(agent2) 2)" 1785 1793)
  ("(y(agent2) 3)" 1793 1800)
  ("(y(agent2) 4)" 1800 1810)
  ("(y(agent2) 5)" 1810 1830)
  ("(y(agent2) 4)" 1830 1839)
  ("(y(agent2) 3)" 1839 1845)
  ("(y(agent2) 2)" 1845 1853)
  ("(y(agent2) 1)" 1853 1885)
  ("(y(agent2) 2)" 1885 1892)
  ("(y(agent2) 3)" 1892 1897)
  ("(y(agent2) 4)" 1897 1904)
  ("(y(agent2) 5)" 1904 1944)
  ("(y(agent2) 4)" 1944 1950)
  ("(y(agent2) 3)" 1950 1955)
  ("(y(agent2) 2)" 1955 1962)
  ("(y(agent2) 1)" 1962 1994)
  ("(y(agent2) 2)" 1994 2001)
  ("(y(agent2) 3)" 2001 2006)
  ("(y(agent2) 4)" 2006 2013)
  ("(y(agent2) 5)" 2013 2051)
  ("(y(agent2) 4)" 2051 2057)
  ("(y(agent2) 3)" 2057 2062)
  ("(y(agent2) 2)" 2062 2069)
  ("(y(agent2) 1)" 2069 2109)
  ("(y(agent2) 2)" 2109 2117)
  ("(y(agent2) 3)" 2117 2125)
  ("(y(agent2) 4)" 2125 2148)
  ("(y(agent2) 3)" 2148 2155)
  ("(y(agent2) 2)" 2155 2162)
  ("(y(agent2) 1)" 2162 2209)
  ("(y(agent2) 2)" 2209 2217)
  ("(y(agent2) 3)" 2217 2224)
  ("(y(agent2) 4)" 2224 2252)
  ("(y(agent2) 3)" 2252 2258)
  ("(y(agent2) 2)" 2258 2265)
  ("(y(agent2) 1)" 2265 2317)
  ("(y(agent2) 2)" 2317 2325)
  ("(y(agent2) up)" 925 952)
  ("(y(agent2) down)" 952 1003)
  ("(y(agent2) stable)" 1003 1004)
  ("(y(agent2) up)" 1004 1048)
  ("(y(agent2) down)" 1048 1099)
  ("(y(agent2) up)" 1099 1147)
  ("(y(agent2) stable)" 1147 1148)
  ("(y(agent2) down)" 1148 1202)
  ("(y(agent2) up)" 1202 1256)
  ("(y(agent2) down)" 1256 1310)
  ("(y(agent2) up)" 1310 1365)
  ("(y(agent2) down)" 1365 1414)
  ("(y(agent2) up)" 1414 1463)
  ("(y(agent2) stable)" 1463 1464)
  ("(y(agent2) down)" 1464 1518)
  ("(y(agent2) up)" 1518 1574)
  ("(y(agent2) down)" 1574 1627)
  ("(y(agent2) stable)" 1627 1628)
  ("(y(agent2) up)" 1628 1682)
  ("(y(agent2) stable)" 1682 1683)
  ("(y(agent2) down)" 1683 1726)
  ("(y(agent2) up)" 1726 1771)
  ("(y(agent2) down)" 1771 1821)
  ("(y(agent2) up)" 1821 1870)
  ("(y(agent2) stable)" 1870 1871)
  ("(y(agent2) down)" 1871 1925)
  ("(y(agent2) up)" 1925 1979)
  ("(y(agent2) stable)" 1979 1980)
  ("(y(agent2) down)" 1980 2033)
  ("(y(agent2) up)" 2033 2089)
  ("(y(agent2) stable)" 2089 2090)
  ("(y(agent2) down)" 2090 2137)
  ("(y(agent2) up)" 2137 2187)
  ("(y(agent2) stable)" 2187 2188)
  ("(y(agent2) down)" 2188 2239)
  ("(y(agent2) up)" 2239 2290)
  ("(y(agent2) stable)" 2290 2291)
  ("(y(agent2) down)" 2291 2325)
  ("(speed(agent2) 5)" 924 950)
  ("(speed(agent2) 4)" 950 971)
  ("(speed(agent2) 5)" 971 1018)
  ("(speed(agent2) 4)" 1018 1032)
  ("(speed(agent2) 3)" 1032 1043)
  ("(speed(agent2) 2)" 1043 1062)
  ("(speed(agent2) 3)" 1062 1067)
  ("(speed(agent2) 4)" 1067 1074)
  ("(speed(agent2) 5)" 1074 1116)
  ("(speed(agent2) 4)" 1116 1127)
  ("(speed(agent2) 3)" 1127 1138)
  ("(speed(agent2) 2)" 1138 1165)
  ("(speed(agent2) 3)" 1165 1174)
  ("(speed(agent2) 4)" 1174 1185)
  ("(speed(agent2) 5)" 1185 1219)
  ("(speed(agent2) 4)" 1219 1224)
  ("(speed(agent2) 3)" 1224 1232)
  ("(speed(agent2) 2)" 1232 1255)
  ("(speed(agent2) 1)" 1255 1267)
  ("(speed(agent2) 2)" 1267 1274)
  ("(speed(agent2) 3)" 1274 1283)
  ("(speed(agent2) 4)" 1283 1294)
  ("(speed(agent2) 5)" 1294 1327)
  ("(speed(agent2) 4)" 1327 1332)
  ("(speed(agent2) 3)" 1332 1338)
  ("(speed(agent2) 2)" 1338 1361)
  ("(speed(agent2) 1)" 1361 1371)
  ("(speed(agent2) 2)" 1371 1379)
  ("(speed(agent2) 3)" 1379 1383)
  ("(speed(agent2) 4)" 1383 1392)
  ("(speed(agent2) 5)" 1392 1431)
  ("(speed(agent2) 4)" 1431 1441)
  ("(speed(agent2) 3)" 1441 1453)
  ("(speed(agent2) 2)" 1453 1482)
  ("(speed(agent2) 3)" 1482 1490)
  ("(speed(agent2) 4)" 1490 1502)
  ("(speed(agent2) 5)" 1502 1535)
  ("(speed(agent2) 4)" 1535 1540)
  ("(speed(agent2) 3)" 1540 1546)
  ("(speed(agent2) 2)" 1546 1590)
  ("(speed(agent2) 3)" 1590 1598)
  ("(speed(agent2) 4)" 1598 1610)
  ("(speed(agent2) 5)" 1610 1645)
  ("(speed(agent2) 4)" 1645 1649)
  ("(speed(agent2) 3)" 1649 1663)
  ("(speed(agent2) 2)" 1663 1692)
  ("(speed(agent2) 3)" 1692 1697)
  ("(speed(agent2) 4)" 1697 1701)
  ("(speed(agent2) 5)" 1701 1731)
  ("(speed(agent2) 4)" 1731 1749)
  ("(speed(agent2) 3)" 1749 1756)
  ("(speed(agent2) 2)" 1756 1766)
  ("(speed(agent2) 1)" 1766 1786)
  ("(speed(agent2) 2)" 1786 1790)
  ("(speed(agent2) 3)" 1790 1802)
  ("(speed(agent2) 4)" 1802 1835)
  ("(speed(agent2) 3)" 1835 1839)
  ("(speed(agent2) 2)" 1839 1849)
  ("(speed(agent2) 1)" 1849 1897)
  ("(speed(agent2) 2)" 1897 1906)
  ("(speed(agent2) 3)" 1906 1915)
  ("(speed(agent2) 4)" 1915 1939)
  ("(speed(agent2) 3)" 1939 1943)
  ("(speed(agent2) 2)" 1943 1947)
  ("(speed(agent2) 1)" 1947 2007)
  ("(speed(agent2) 2)" 2007 2015)
  ("(speed(agent2) 3)" 2015 2024)
  ("(speed(agent2) 4)" 2024 2047)
  ("(speed(agent2) 3)" 2047 2051)
  ("(speed(agent2) 2)" 2051 2055)
  ("(speed(agent2) 1)" 2055 2105)
  ("(speed(agent2) 2)" 2105 2108)
  ("(speed(agent2) 3)" 2108 2121)
  ("(speed(agent2) 4)" 2121 2152)
  ("(speed(agent2) 3)" 2152 2156)
  ("(speed(agent2) 2)" 2156 2167)
  ("(speed(agent2) 1)" 2167 2205)
  ("(speed(agent2) 2)" 2205 2214)
  ("(speed(agent2) 3)" 2214 2225)
  ("(speed(agent2) 4)" 2225 2242)
  ("(speed(agent2) 5)" 2242 2244)
  ("(speed(agent2) 4)" 2244 2254)
  ("(speed(agent2) 3)" 2254 2257)
  ("(speed(agent2) 2)" 2257 2265)
  ("(speed(agent2) 1)" 2265 2304)
  ("(speed(agent2) 2)" 2304 2307)
  ("(speed(agent2) 3)" 2307 2310)
  ("(speed(agent2) 4)" 2310 2325)
  ("(speed(agent2) down)" 925 935)
  ("(speed(agent2) up)" 935 961)
  ("(speed(agent2) down)" 961 1007)
  ("(speed(agent2) up)" 1007 1054)
  ("(speed(agent2) down)" 1054 1103)
  ("(speed(agent2) stable)" 1103 1104)
  ("(speed(agent2) up)" 1104 1155)
  ("(speed(agent2) stable)" 1155 1156)
  ("(speed(agent2) down)" 1156 1207)
  ("(speed(agent2) up)" 1207 1262)
  ("(speed(agent2) down)" 1262 1315)
  ("(speed(agent2) up)" 1315 1367)
  ("(speed(agent2) down)" 1367 1419)
  ("(speed(agent2) up)" 1419 1471)
  ("(speed(agent2) down)" 1471 1523)
  ("(speed(agent2) up)" 1523 1580)
  ("(speed(agent2) down)" 1580 1632)
  ("(speed(agent2) stable)" 1632 1633)
  ("(speed(agent2) up)" 1633 1684)
  ("(speed(agent2) down)" 1684 1712)
  ("(speed(agent2) stable)" 1712 1714)
  ("(speed(agent2) up)" 1714 1741)
  ("(speed(agent2) down)" 1741 1744)
  ("(speed(agent2) stable)" 1744 1745)
  ("(speed(agent2) up)" 1745 1777)
  ("(speed(agent2) down)" 1777 1826)
  ("(speed(agent2) up)" 1826 1878)
  ("(speed(agent2) down)" 1878 1930)
  ("(speed(agent2) up)" 1930 1985)
  ("(speed(agent2) down)" 1985 2038)
  ("(speed(agent2) up)" 2038 2091)
  ("(speed(agent2) down)" 2091 2142)
  ("(speed(agent2) up)" 2142 2193)
  ("(speed(agent2) down)" 2193 2244)
  ("(speed(agent2) up)" 2244 2290)
  ("(speed(agent2) down)" 2290 2325)
  ("(heading(agent2) 5)" 949 964)
  ("(heading(agent2) 4)" 964 968)
  ("(heading(agent2) 3)" 968 972)
  ("(heading(agent2) 2)" 972 978)
  ("(heading(agent2) 1)" 978 1017)
  ("(heading(agent2) 2)" 1017 1022)
  ("(heading(agent2) 3)" 1022 1025)
  ("(heading(agent2) 4)" 1025 1028)
  ("(heading(agent2) 5)" 1028 1130)
  ("(heading(agent2) 4)" 1130 1138)
  ("(heading(agent2) 3)" 1138 1186)
  ("(heading(agent2) 2)" 1186 1205)
  ("(heading(agent2) 3)" 1205 1221)
  ("(heading(agent2) 4)" 1221 1235)
  ("(heading(agent2) 5)" 1235 1250)
  ("(heading(agent2) 4)" 1250 1298)
  ("(heading(agent2) 3)" 1298 1569)
  ("(heading(agent2) 2)" 1569 2274)
  ("(heading(agent2) 3)" 2274 2299)
  ("(heading(agent2) 4)" 2299 2300)
  ("(heading(agent2) up)" 950 997)
  ("(heading(agent2) stable)" 997 1003)
  ("(heading(agent2) down)" 1003 1051)
  ("(heading(agent2) stable)" 1051 1057)
  ("(heading(agent2) down)" 1057 1071)
  ("(heading(agent2) stable)" 1071 1078)
  ("(heading(agent2) down)" 1078 1085)
  ("(heading(agent2) stable)" 1085 1097)
  ("(heading(agent2) up)" 1097 1142)
  ("(heading(agent2) stable)" 1142 1183)
  ("(heading(agent2) up)" 1183 1186)
  ("(heading(agent2) stable)" 1186 1209)
  ("(heading(agent2) down)" 1209 1234)
  ("(heading(agent2) stable)" 1234 2268)
  ("(heading(agent2) down)" 2268 2277)
  ("(heading(agent2) stable)" 2277 2292)
  ("(heading(agent2) down)" 2292 2300)
  ("heard(agent1 agent2)" 2247 2350)
  ("heard(agent1 agent2)" 2137 2227)
  ("heard(agent1 agent2)" 2051 2134)
  ("heard(agent1 agent2)" 1942 2013)
  ("heard(agent1 agent2)" 1823 1906)
  ("heard(agent1 agent2)" 771 1815)
  ("novel(agent1 agent2)" 2248 2310)
  ("novel(agent1 agent2)" 2138 2216)
  ("novel(agent1 agent2)" 2052 2132)
  ("novel(agent1 agent2)" 1943 2023)
  ("novel(agent1 agent2)" 1824 1902)
  ("novel(agent1 agent2)" 900 980)
  ("novel(agent1 agent2)" 772 852)
  ("collision(agent1 agent2)" 2284 2287)
  ("collision(agent1 agent2)" 2182 2184)
  ("collision(agent1 agent2)" 2083 2085)
  ("collision(agent1 agent2)" 1973 1975)
  ("collision(agent1 agent2)" 1865 1868)
  ("collision(agent1 agent2)" 1766 1767)
  ("collision(agent1 agent2)" 1676 1677)
  ("collision(agent1 agent2)" 1568 1570)
  ("collision(agent1 agent2)" 1458 1460)
  ("collision(agent1 agent2)" 1359 1362)
  ("collision(agent1 agent2)" 1250 1252)
  ("collision(agent1 agent2)" 1142 1144)
  ("collision(agent1 agent2)" 1044 1047)
  ("collision(agent1 agent2)" 949 950)
  ("collision(agent1 agent2)" 869 871)
  ("collision(agent1 agent2)" 806 808)
  ("(distance(agent1 agent2) 4)" 796 798)
  ("(distance(agent1 agent2) 5)" 798 902)
  ("(distance(agent1 agent2) 4)" 902 927)
  ("(distance(agent1 agent2) 5)" 927 969)
  ("(distance(agent1 agent2) 4)" 969 980)
  ("(distance(agent1 agent2) 3)" 980 990)
  ("(distance(agent1 agent2) 2)" 990 1014)
  ("(distance(agent1 agent2) 3)" 1014 1023)
  ("(distance(agent1 agent2) 4)" 1023 1034)
  ("(distance(agent1 agent2) 5)" 1034 1062)
  ("(distance(agent1 agent2) 4)" 1062 1072)
  ("(distance(agent1 agent2) 3)" 1072 1080)
  ("(distance(agent1 agent2) 2)" 1080 1115)
  ("(distance(agent1 agent2) 3)" 1115 1123)
  ("(distance(agent1 agent2) 4)" 1123 1134)
  ("(distance(agent1 agent2) 5)" 1134 1159)
  ("(distance(agent1 agent2) 4)" 1159 1168)
  ("(distance(agent1 agent2) 3)" 1168 1175)
  ("(distance(agent1 agent2) 2)" 1175 1184)
  ("(distance(agent1 agent2) 1)" 1184 1219)
  ("(distance(agent1 agent2) 2)" 1219 1227)
  ("(distance(agent1 agent2) 3)" 1227 1234)
  ("(distance(agent1 agent2) 4)" 1234 1245)
  ("(distance(agent1 agent2) 5)" 1245 1266)
  ("(distance(agent1 agent2) 4)" 1266 1276)
  ("(distance(agent1 agent2) 3)" 1276 1282)
  ("(distance(agent1 agent2) 2)" 1282 1291)
  ("(distance(agent1 agent2) 1)" 1291 1328)
  ("(distance(agent1 agent2) 2)" 1328 1336)
  ("(distance(agent1 agent2) 3)" 1336 1343)
  ("(distance(agent1 agent2) 4)" 1343 1353)
  ("(distance(agent1 agent2) 5)" 1353 1376)
  ("(distance(agent1 agent2) 4)" 1376 1386)
  ("(distance(agent1 agent2) 3)" 1386 1394)
  ("(distance(agent1 agent2) 2)" 1394 1409)
  ("(distance(agent1 agent2) 1)" 1409 1418)
  ("(distance(agent1 agent2) 2)" 1418 1432)
  ("(distance(agent1 agent2) 3)" 1432 1439)
  ("(distance(agent1 agent2) 4)" 1439 1450)
  ("(distance(agent1 agent2) 5)" 1450 1475)
  ("(distance(agent1 agent2) 4)" 1475 1484)
  ("(distance(agent1 agent2) 3)" 1484 1491)
  ("(distance(agent1 agent2) 2)" 1491 1499)
  ("(distance(agent1 agent2) 1)" 1499 1535)
  ("(distance(agent1 agent2) 2)" 1535 1543)
  ("(distance(agent1 agent2) 3)" 1543 1550)
  ("(distance(agent1 agent2) 4)" 1550 1560)
  ("(distance(agent1 agent2) 5)" 1560 1586)
  ("(distance(agent1 agent2) 4)" 1586 1595)
  ("(distance(agent1 agent2) 3)" 1595 1601)
  ("(distance(agent1 agent2) 2)" 1601 1611)
  ("(distance(agent1 agent2) 1)" 1611 1643)
  ("(distance(agent1 agent2) 2)" 1643 1652)
  ("(distance(agent1 agent2) 3)" 1652 1659)
  ("(distance(agent1 agent2) 4)" 1659 1669)
  ("(distance(agent1 agent2) 5)" 1669 1694)
  ("(distance(agent1 agent2) 4)" 1694 1704)
  ("(distance(agent1 agent2) 3)" 1704 1714)
  ("(distance(agent1 agent2) 2)" 1714 1739)
  ("(distance(agent1 agent2) 3)" 1739 1748)
  ("(distance(agent1 agent2) 4)" 1748 1760)
  ("(distance(agent1 agent2) 5)" 1760 1779)
  ("(distance(agent1 agent2) 4)" 1779 1789)
  ("(distance(agent1 agent2) 3)" 1789 1795)
  ("(distance(agent1 agent2) 2)" 1795 1803)
  ("(distance(agent1 agent2) 1)" 1803 1838)
  ("(distance(agent1 agent2) 2)" 1838 1845)
  ("(distance(agent1 agent2) 3)" 1845 1852)
  ("(distance(agent1 agent2) 4)" 1852 1864)
  ("(distance(agent1 agent2) 5)" 1864 1875)
  ("(distance(agent1 agent2) 4)" 1875 1886)
  ("(distance(agent1 agent2) 3)" 1886 1892)
  ("(distance(agent1 agent2) 2)" 1892 1898)
  ("(distance(agent1 agent2) 1)" 1898 1950)
  ("(distance(agent1 agent2) 2)" 1950 1956)
  ("(distance(agent1 agent2) 3)" 1956 1963)
  ("(distance(agent1 agent2) 4)" 1963 1993)
  ("(distance(agent1 agent2) 3)" 1993 1999)
  ("(distance(agent1 agent2) 2)" 1999 2005)
  ("(distance(agent1 agent2) 1)" 2005 2059)
  ("(distance(agent1 agent2) 2)" 2059 2065)
  ("(distance(agent1 agent2) 3)" 2065 2071)
  ("(distance(agent1 agent2) 4)" 2071 2083)
  ("(distance(agent1 agent2) 5)" 2083 2095)
  ("(distance(agent1 agent2) 4)" 2095 2106)
  ("(distance(agent1 agent2) 3)" 2106 2112)
  ("(distance(agent1 agent2) 2)" 2112 2120)
  ("(distance(agent1 agent2) 1)" 2120 2153)
  ("(distance(agent1 agent2) 2)" 2153 2161)
  ("(distance(agent1 agent2) 3)" 2161 2167)
  ("(distance(agent1 agent2) 4)" 2167 2178)
  ("(distance(agent1 agent2) 5)" 2178 2195)
  ("(distance(agent1 agent2) 4)" 2195 2205)
  ("(distance(agent1 agent2) 3)" 2205 2211)
  ("(distance(agent1 agent2) 2)" 2211 2218)
  ("(distance(agent1 agent2) 1)" 2218 2258)
  ("(distance(agent1 agent2) 2)" 2258 2265)
  ("(distance(agent1 agent2) 3)" 2265 2272)
  ("(distance(agent1 agent2) 4)" 2272 2282)
  ("(distance(agent1 agent2) 5)" 2282 2310)
  ("(distance(agent1 agent2) 4)" 2310 2325)
  ("(distance(agent1 agent2) down)" 797 820)
  ("(distance(agent1 agent2) stable)" 820 821)
  ("(distance(agent1 agent2) up)" 821 839)
  ("(distance(agent1 agent2) stable)" 839 840)
  ("(distance(agent1 agent2) down)" 840 870)
  ("(distance(agent1 agent2) stable)" 870 871)
  ("(distance(agent1 agent2) up)" 871 915)
  ("(distance(agent1 agent2) stable)" 915 916)
  ("(distance(agent1 agent2) down)" 916 951)
  ("(distance(agent1 agent2) stable)" 951 952)
  ("(distance(agent1 agent2) up)" 952 1002)
  ("(distance(agent1 agent2) stable)" 1002 1003)
  ("(distance(agent1 agent2) down)" 1003 1049)
  ("(distance(agent1 agent2) up)" 1049 1099)
  ("(distance(agent1 agent2) down)" 1099 1147)
  ("(distance(agent1 agent2) stable)" 1147 1148)
  ("(distance(agent1 agent2) up)" 1148 1202)
  ("(distance(agent1 agent2) down)" 1202 1256)
  ("(distance(agent1 agent2) up)" 1256 1310)
  ("(distance(agent1 agent2) down)" 1310 1365)
  ("(distance(agent1 agent2) up)" 1365 1414)
  ("(distance(agent1 agent2) down)" 1414 1463)
  ("(distance(agent1 agent2) stable)" 1463 1464)
  ("(distance(agent1 agent2) up)" 1464 1518)
  ("(distance(agent1 agent2) down)" 1518 1574)
  ("(distance(agent1 agent2) up)" 1574 1628)
  ("(distance(agent1 agent2) down)" 1628 1682)
  ("(distance(agent1 agent2) up)" 1682 1727)
  ("(distance(agent1 agent2) stable)" 1727 1728)
  ("(distance(agent1 agent2) down)" 1728 1770)
  ("(distance(agent1 agent2) up)" 1770 1821)
  ("(distance(agent1 agent2) stable)" 1821 1822)
  ("(distance(agent1 agent2) down)" 1822 1870)
  ("(distance(agent1 agent2) up)" 1870 1925)
  ("(distance(agent1 agent2) down)" 1925 1979)
  ("(distance(agent1 agent2) up)" 1979 2033)
  ("(distance(agent1 agent2) down)" 2033 2089)
  ("(distance(agent1 agent2) up)" 2089 2137)
  ("(distance(agent1 agent2) stable)" 2137 2138)
  ("(distance(agent1 agent2) down)" 2138 2187)
  ("(distance(agent1 agent2) up)" 2187 2239)
  ("(distance(agent1 agent2) down)" 2239 2296)
  ("(distance(agent1 agent2) stable)" 2296 2297)
  ("(distance(agent1 agent2) up)" 2297 2325)
  ("(relativeX(agent1 agent2) 1)" 924 963)
  ("(relativeX(agent1 agent2) 2)" 963 971)
  ("(relativeX(agent1 agent2) 3)" 971 978)
  ("(relativeX(agent1 agent2) 4)" 978 989)
  ("(relativeX(agent1 agent2) 5)" 989 1010)
  ("(relativeX(agent1 agent2) 4)" 1010 1019)
  ("(relativeX(agent1 agent2) 3)" 1019 1026)
  ("(relativeX(agent1 agent2) 2)" 1026 1035)
  ("(relativeX(agent1 agent2) 1)" 1035 1072)
  ("(relativeX(agent1 agent2) 2)" 1072 1085)
  ("(relativeX(agent1 agent2) 3)" 1085 1113)
  ("(relativeX(agent1 agent2) 2)" 1113 1125)
  ("(relativeX(agent1 agent2) 1)" 1125 1162)
  ("(relativeX(agent1 agent2) 2)" 1162 1170)
  ("(relativeX(agent1 agent2) 3)" 1170 1177)
  ("(relativeX(agent1 agent2) 4)" 1177 1187)
  ("(relativeX(agent1 agent2) 5)" 1187 1215)
  ("(relativeX(agent1 agent2) 4)" 1215 1225)
  ("(relativeX(agent1 agent2) 3)" 1225 1231)
  ("(relativeX(agent1 agent2) 2)" 1231 1241)
  ("(relativeX(agent1 agent2) 1)" 1241 1269)
  ("(relativeX(agent1 agent2) 2)" 1269 1278)
  ("(relativeX(agent1 agent2) 3)" 1278 1285)
  ("(relativeX(agent1 agent2) 4)" 1285 1295)
  ("(relativeX(agent1 agent2) 5)" 1295 1324)
  ("(relativeX(agent1 agent2) 4)" 1324 1333)
  ("(relativeX(agent1 agent2) 3)" 1333 1340)
  ("(relativeX(agent1 agent2) 2)" 1340 1350)
  ("(relativeX(agent1 agent2) 1)" 1350 1379)
  ("(relativeX(agent1 agent2) 2)" 1379 1389)
  ("(relativeX(agent1 agent2) 3)" 1389 1397)
  ("(relativeX(agent1 agent2) 4)" 1397 1429)
  ("(relativeX(agent1 agent2) 3)" 1429 1437)
  ("(relativeX(agent1 agent2) 2)" 1437 1448)
  ("(relativeX(agent1 agent2) 1)" 1448 1477)
  ("(relativeX(agent1 agent2) 2)" 1477 1486)
  ("(relativeX(agent1 agent2) 3)" 1486 1492)
  ("(relativeX(agent1 agent2) 4)" 1492 1502)
  ("(relativeX(agent1 agent2) 5)" 1502 1533)
  ("(relativeX(agent1 agent2) 4)" 1533 1542)
  ("(relativeX(agent1 agent2) 3)" 1542 1548)
  ("(relativeX(agent1 agent2) 2)" 1548 1558)
  ("(relativeX(agent1 agent2) 1)" 1558 1587)
  ("(relativeX(agent1 agent2) 2)" 1587 1596)
  ("(relativeX(agent1 agent2) 3)" 1596 1603)
  ("(relativeX(agent1 agent2) 4)" 1603 1613)
  ("(relativeX(agent1 agent2) 5)" 1613 1642)
  ("(relativeX(agent1 agent2) 4)" 1642 1651)
  ("(relativeX(agent1 agent2) 3)" 1651 1658)
  ("(relativeX(agent1 agent2) 2)" 1658 1668)
  ("(relativeX(agent1 agent2) 1)" 1668 1695)
  ("(relativeX(agent1 agent2) 2)" 1695 1705)
  ("(relativeX(agent1 agent2) 3)" 1705 1715)
  ("(relativeX(agent1 agent2) 4)" 1715 1738)
  ("(relativeX(agent1 agent2) 3)" 1738 1747)
  ("(relativeX(agent1 agent2) 2)" 1747 1758)
  ("(relativeX(agent1 agent2) 1)" 1758 1780)
  ("(relativeX(agent1 agent2) 2)" 1780 1790)
  ("(relativeX(agent1 agent2) 3)" 1790 1796)
  ("(relativeX(agent1 agent2) 4)" 1796 1804)
  ("(relativeX(agent1 agent2) 5)" 1804 1837)
  ("(relativeX(agent1 agent2) 4)" 1837 1844)
  ("(relativeX(agent1 agent2) 3)" 1844 1851)
  ("(relativeX(agent1 agent2) 2)" 1851 1863)
  ("(relativeX(agent1 agent2) 1)" 1863 1876)
  ("(relativeX(agent1 agent2) 2)" 1876 1887)
  ("(relativeX(agent1 agent2) 3)" 1887 1892)
  ("(relativeX(agent1 agent2) 4)" 1892 1898)
  ("(relativeX(agent1 agent2) 5)" 1898 1950)
  ("(relativeX(agent1 agent2) 4)" 1950 1956)
  ("(relativeX(agent1 agent2) 3)" 1956 1962)
  ("(relativeX(agent1 agent2) 2)" 1962 1976)
  ("(relativeX(agent1 agent2) 1)" 1976 1981)
  ("(relativeX(agent1 agent2) 2)" 1981 1994)
  ("(relativeX(agent1 agent2) 3)" 1994 1999)
  ("(relativeX(agent1 agent2) 4)" 1999 2006)
  ("(relativeX(agent1 agent2) 5)" 2006 2059)
  ("(relativeX(agent1 agent2) 4)" 2059 2065)
  ("(relativeX(agent1 agent2) 3)" 2065 2071)
  ("(relativeX(agent1 agent2) 2)" 2071 2082)
  ("(relativeX(agent1 agent2) 1)" 2082 2096)
  ("(relativeX(agent1 agent2) 2)" 2096 2106)
  ("(relativeX(agent1 agent2) 3)" 2106 2112)
  ("(relativeX(agent1 agent2) 4)" 2112 2121)
  ("(relativeX(agent1 agent2) 5)" 2121 2153)
  ("(relativeX(agent1 agent2) 4)" 2153 2160)
  ("(relativeX(agent1 agent2) 3)" 2160 2167)
  ("(relativeX(agent1 agent2) 2)" 2167 2177)
  ("(relativeX(agent1 agent2) 1)" 2177 2196)
  ("(relativeX(agent1 agent2) 2)" 2196 2205)
  ("(relativeX(agent1 agent2) 3)" 2205 2211)
  ("(relativeX(agent1 agent2) 4)" 2211 2218)
  ("(relativeX(agent1 agent2) 5)" 2218 2258)
  ("(relativeX(agent1 agent2) 4)" 2258 2265)
  ("(relativeX(agent1 agent2) 3)" 2265 2271)
  ("(relativeX(agent1 agent2) 2)" 2271 2281)
  ("(relativeX(agent1 agent2) 1)" 2281 2316)
  ("(relativeX(agent1 agent2) 2)" 2316 2325)
  ("(relativeX(agent1 agent2) down)" 925 1000)
  ("(relativeX(agent1 agent2) up)" 1000 1054)
  ("(relativeX(agent1 agent2) down)" 1054 1099)
  ("(relativeX(agent1 agent2) stable)" 1099 1100)
  ("(relativeX(agent1 agent2) up)" 1100 1145)
  ("(relativeX(agent1 agent2) down)" 1145 1202)
  ("(relativeX(agent1 agent2) up)" 1202 1256)
  ("(relativeX(agent1 agent2) stable)" 1256 1257)
  ("(relativeX(agent1 agent2) down)" 1257 1310)
  ("(relativeX(agent1 agent2) stable)" 1310 1311)
  ("(relativeX(agent1 agent2) up)" 1311 1365)
  ("(relativeX(agent1 agent2) down)" 1365 1414)
  ("(relativeX(agent1 agent2) up)" 1414 1463)
  ("(relativeX(agent1 agent2) stable)" 1463 1464)
  ("(relativeX(agent1 agent2) down)" 1464 1518)
  ("(relativeX(agent1 agent2) up)" 1518 1573)
  ("(relativeX(agent1 agent2) stable)" 1573 1574)
  ("(relativeX(agent1 agent2) down)" 1574 1628)
  ("(relativeX(agent1 agent2) up)" 1628 1682)
  ("(relativeX(agent1 agent2) down)" 1682 1727)
  ("(relativeX(agent1 agent2) stable)" 1727 1728)
  ("(relativeX(agent1 agent2) up)" 1728 1770)
  ("(relativeX(agent1 agent2) down)" 1770 1821)
  ("(relativeX(agent1 agent2) stable)" 1821 1822)
  ("(relativeX(agent1 agent2) up)" 1822 1870)
  ("(relativeX(agent1 agent2) down)" 1870 1925)
  ("(relativeX(agent1 agent2) up)" 1925 1979)
  ("(relativeX(agent1 agent2) down)" 1979 2033)
  ("(relativeX(agent1 agent2) up)" 2033 2089)
  ("(relativeX(agent1 agent2) down)" 2089 2137)
  ("(relativeX(agent1 agent2) stable)" 2137 2138)
  ("(relativeX(agent1 agent2) up)" 2138 2187)
  ("(relativeX(agent1 agent2) down)" 2187 2239)
  ("(relativeX(agent1 agent2) up)" 2239 2297)
  ("(relativeX(agent1 agent2) stable)" 2297 2298)
  ("(relativeX(agent1 agent2) down)" 2298 2325)
  ("(relativeY(agent1 agent2) 4)" 924 926)
  ("(relativeY(agent1 agent2) 5)" 926 974)
  ("(relativeY(agent1 agent2) 4)" 974 984)
  ("(relativeY(agent1 agent2) 3)" 984 998)
  ("(relativeY(agent1 agent2) 2)" 998 1007)
  ("(relativeY(agent1 agent2) 3)" 1007 1020)
  ("(relativeY(agent1 agent2) 4)" 1020 1030)
  ("(relativeY(agent1 agent2) 5)" 1030 1064)
  ("(relativeY(agent1 agent2) 4)" 1064 1073)
  ("(relativeY(agent1 agent2) 3)" 1073 1081)
  ("(relativeY(agent1 agent2) 2)" 1081 1114)
  ("(relativeY(agent1 agent2) 3)" 1114 1122)
  ("(relativeY(agent1 agent2) 4)" 1122 1131)
  ("(relativeY(agent1 agent2) 5)" 1131 1162)
  ("(relativeY(agent1 agent2) 4)" 1162 1170)
  ("(relativeY(agent1 agent2) 3)" 1170 1176)
  ("(relativeY(agent1 agent2) 2)" 1176 1185)
  ("(relativeY(agent1 agent2) 1)" 1185 1218)
  ("(relativeY(agent1 agent2) 2)" 1218 1226)
  ("(relativeY(agent1 agent2) 3)" 1226 1232)
  ("(relativeY(agent1 agent2) 4)" 1232 1241)
  ("(relativeY(agent1 agent2) 5)" 1241 1269)
  ("(relativeY(agent1 agent2) 4)" 1269 1277)
  ("(relativeY(agent1 agent2) 3)" 1277 1283)
  ("(relativeY(agent1 agent2) 2)" 1283 1292)
  ("(relativeY(agent1 agent2) 1)" 1292 1327)
  ("(relativeY(agent1 agent2) 2)" 1327 1335)
  ("(relativeY(agent1 agent2) 3)" 1335 1341)
  ("(relativeY(agent1 agent2) 4)" 1341 1350)
  ("(relativeY(agent1 agent2) 5)" 1350 1379)
  ("(relativeY(agent1 agent2) 4)" 1379 1388)
  ("(relativeY(agent1 agent2) 3)" 1388 1396)
  ("(relativeY(agent1 agent2) 2)" 1396 1430)
  ("(relativeY(agent1 agent2) 3)" 1430 1437)
  ("(relativeY(agent1 agent2) 4)" 1437 1447)
  ("(relativeY(agent1 agent2) 5)" 1447 1478)
  ("(relativeY(agent1 agent2) 4)" 1478 1486)
  ("(relativeY(agent1 agent2) 3)" 1486 1492)
  ("(relativeY(agent1 agent2) 2)" 1492 1501)
  ("(relativeY(agent1 agent2) 1)" 1501 1534)
  ("(relativeY(agent1 agent2) 2)" 1534 1542)
  ("(relativeY(agent1 agent2) 3)" 1542 1548)
  ("(relativeY(agent1 agent2) 4)" 1548 1557)
  ("(relativeY(agent1 agent2) 5)" 1557 1589)
  ("(relativeY(agent1 agent2) 4)" 1589 1596)
  ("(relativeY(agent1 agent2) 3)" 1596 1603)
  ("(relativeY(agent1 agent2) 2)" 1603 1612)
  ("(relativeY(agent1 agent2) 1)" 1612 1642)
  ("(relativeY(agent1 agent2) 2)" 1642 1650)
  ("(relativeY(agent1 agent2) 3)" 1650 1657)
  ("(relativeY(agent1 agent2) 4)" 1657 1666)
  ("(relativeY(agent1 agent2) 5)" 1666 1697)
  ("(relativeY(agent1 agent2) 4)" 1697 1707)
  ("(relativeY(agent1 agent2) 3)" 1707 1716)
  ("(relativeY(agent1 agent2) 2)" 1716 1737)
  ("(relativeY(agent1 agent2) 3)" 1737 1745)
  ("(relativeY(agent1 agent2) 4)" 1745 1756)
  ("(relativeY(agent1 agent2) 5)" 1756 1782)
  ("(relativeY(agent1 agent2) 4)" 1782 1791)
  ("(relativeY(agent1 agent2) 3)" 1791 1797)
  ("(relativeY(agent1 agent2) 2)" 1797 1805)
  ("(relativeY(agent1 agent2) 1)" 1805 1836)
  ("(relativeY(agent1 agent2) 2)" 1836 1843)
  ("(relativeY(agent1 agent2) 3)" 1843 1850)
  ("(relativeY(agent1 agent2) 4)" 1850 1860)
  ("(relativeY(agent1 agent2) 5)" 1860 1879)
  ("(relativeY(agent1 agent2) 4)" 1879 1888)
  ("(relativeY(agent1 agent2) 3)" 1888 1893)
  ("(relativeY(agent1 agent2) 2)" 1893 1899)
  ("(relativeY(agent1 agent2) 1)" 1899 1949)
  ("(relativeY(agent1 agent2) 2)" 1949 1955)
  ("(relativeY(agent1 agent2) 3)" 1955 1961)
  ("(relativeY(agent1 agent2) 4)" 1961 1971)
  ("(relativeY(agent1 agent2) 5)" 1971 1986)
  ("(relativeY(agent1 agent2) 4)" 1986 1995)
  ("(relativeY(agent1 agent2) 3)" 1995 2000)
  ("(relativeY(agent1 agent2) 2)" 2000 2006)
  ("(relativeY(agent1 agent2) 1)" 2006 2058)
  ("(relativeY(agent1 agent2) 2)" 2058 2064)
  ("(relativeY(agent1 agent2) 3)" 2064 2070)
  ("(relativeY(agent1 agent2) 4)" 2070 2079)
  ("(relativeY(agent1 agent2) 5)" 2079 2099)
  ("(relativeY(agent1 agent2) 4)" 2099 2107)
  ("(relativeY(agent1 agent2) 3)" 2107 2113)
  ("(relativeY(agent1 agent2) 2)" 2113 2121)
  ("(relativeY(agent1 agent2) 1)" 2121 2152)
  ("(relativeY(agent1 agent2) 2)" 2152 2159)
  ("(relativeY(agent1 agent2) 3)" 2159 2165)
  ("(relativeY(agent1 agent2) 4)" 2165 2174)
  ("(relativeY(agent1 agent2) 5)" 2174 2198)
  ("(relativeY(agent1 agent2) 4)" 2198 2206)
  ("(relativeY(agent1 agent2) 3)" 2206 2212)
  ("(relativeY(agent1 agent2) 2)" 2212 2219)
  ("(relativeY(agent1 agent2) 1)" 2219 2257)
  ("(relativeY(agent1 agent2) 2)" 2257 2264)
  ("(relativeY(agent1 agent2) 3)" 2264 2270)
  ("(relativeY(agent1 agent2) 4)" 2270 2279)
  ("(relativeY(agent1 agent2) 5)" 2279 2314)
  ("(relativeY(agent1 agent2) 4)" 2314 2325)
  ("(relativeY(agent1 agent2) down)" 925 953)
  ("(relativeY(agent1 agent2) stable)" 953 954)
  ("(relativeY(agent1 agent2) up)" 954 1003)
  ("(relativeY(agent1 agent2) stable)" 1003 1004)
  ("(relativeY(agent1 agent2) down)" 1004 1048)
  ("(relativeY(agent1 agent2) stable)" 1048 1049)
  ("(relativeY(agent1 agent2) up)" 1049 1098)
  ("(relativeY(agent1 agent2) stable)" 1098 1099)
  ("(relativeY(agent1 agent2) down)" 1099 1147)
  ("(relativeY(agent1 agent2) stable)" 1147 1148)
  ("(relativeY(agent1 agent2) up)" 1148 1202)
  ("(relativeY(agent1 agent2) down)" 1202 1256)
  ("(relativeY(agent1 agent2) up)" 1256 1310)
  ("(relativeY(agent1 agent2) down)" 1310 1365)
  ("(relativeY(agent1 agent2) up)" 1365 1414)
  ("(relativeY(agent1 agent2) down)" 1414 1463)
  ("(relativeY(agent1 agent2) stable)" 1463 1464)
  ("(relativeY(agent1 agent2) up)" 1464 1518)
  ("(relativeY(agent1 agent2) down)" 1518 1574)
  ("(relativeY(agent1 agent2) up)" 1574 1628)
  ("(relativeY(agent1 agent2) down)" 1628 1682)
  ("(relativeY(agent1 agent2) up)" 1682 1727)
  ("(relativeY(agent1 agent2) stable)" 1727 1728)
  ("(relativeY(agent1 agent2) down)" 1728 1770)
  ("(relativeY(agent1 agent2) up)" 1770 1821)
  ("(relativeY(agent1 agent2) stable)" 1821 1822)
  ("(relativeY(agent1 agent2) down)" 1822 1870)
  ("(relativeY(agent1 agent2) up)" 1870 1925)
  ("(relativeY(agent1 agent2) down)" 1925 1979)
  ("(relativeY(agent1 agent2) up)" 1979 2033)
  ("(relativeY(agent1 agent2) down)" 2033 2089)
  ("(relativeY(agent1 agent2) up)" 2089 2137)
  ("(relativeY(agent1 agent2) stable)" 2137 2138)
  ("(relativeY(agent1 agent2) down)" 2138 2187)
  ("(relativeY(agent1 agent2) up)" 2187 2239)
  ("(relativeY(agent1 agent2) down)" 2239 2296)
  ("(relativeY(agent1 agent2) stable)" 2296 2297)
  ("(relativeY(agent1 agent2) up)" 2297 2325)
  ("(x(wall2) 3)" 414 2325)
  ("(x(wall2) stable)" 415 2325)
  ("(y(wall2) 3)" 414 2325)
  ("(y(wall2) stable)" 415 2325)
  ("(speed(wall2) 3)" 414 2325)
  ("(speed(wall2) stable)" 415 2325)
  ("(heading(wall2) 3)" 439 2300)
  ("(heading(wall2) stable)" 440 2300)
  ("novel(agent1 wall2)" 390 470)
  ("(distance(agent1 wall2) 1)" 414 556)
  ("(distance(agent1 wall2) 2)" 556 574)
  ("(distance(agent1 wall2) 3)" 574 588)
  ("(distance(agent1 wall2) 4)" 588 606)
  ("(distance(agent1 wall2) 5)" 606 893)
  ("(distance(agent1 wall2) 4)" 893 940)
  ("(distance(agent1 wall2) 3)" 940 1090)
  ("(distance(agent1 wall2) 2)" 1090 1114)
  ("(distance(agent1 wall2) 3)" 1114 1167)
  ("(distance(agent1 wall2) 2)" 1167 1234)
  ("(distance(agent1 wall2) 3)" 1234 1277)
  ("(distance(agent1 wall2) 2)" 1277 1337)
  ("(distance(agent1 wall2) 3)" 1337 1398)
  ("(distance(agent1 wall2) 2)" 1398 1425)
  ("(distance(agent1 wall2) 3)" 1425 1503)
  ("(distance(agent1 wall2) 2)" 1503 1528)
  ("(distance(agent1 wall2) 3)" 1528 2081)
  ("(distance(agent1 wall2) 4)" 2081 2100)
  ("(distance(agent1 wall2) 3)" 2100 2163)
  ("(distance(agent1 wall2) 4)" 2163 2213)
  ("(distance(agent1 wall2) 3)" 2213 2257)
  ("(distance(agent1 wall2) 4)" 2257 2325)
  ("(distance(agent1 wall2) down)" 415 654)
  ("(distance(agent1 wall2) stable)" 654 658)
  ("(distance(agent1 wall2) up)" 658 715)
  ("(distance(agent1 wall2) stable)" 715 719)
  ("(distance(agent1 wall2) down)" 719 804)
  ("(distance(agent1 wall2) stable)" 804 810)
  ("(distance(agent1 wall2) up)" 810 1003)
  ("(distance(agent1 wall2) stable)" 1003 1008)
  ("(distance(agent1 wall2) down)" 1008 1047)
  ("(distance(agent1 wall2) stable)" 1047 1054)
  ("(distance(agent1 wall2) up)" 1054 1099)
  ("(distance(agent1 wall2) stable)" 1099 1106)
  ("(distance(agent1 wall2) down)" 1106 1140)
  ("(distance(agent1 wall2) stable)" 1140 1148)
  ("(distance(agent1 wall2) up)" 1148 1198)
  ("(distance(agent1 wall2) stable)" 1198 1205)
  ("(distance(agent1 wall2) down)" 1205 1254)
  ("(distance(agent1 wall2) stable)" 1254 1260)
  ("(distance(agent1 wall2) up)" 1260 1306)
  ("(distance(agent1 wall2) stable)" 1306 1312)
  ("(distance(agent1 wall2) down)" 1312 1363)
  ("(distance(agent1 wall2) stable)" 1363 1370)
  ("(distance(agent1 wall2) up)" 1370 1409)
  ("(distance(agent1 wall2) stable)" 1409 1416)
  ("(distance(agent1 wall2) down)" 1416 1461)
  ("(distance(agent1 wall2) stable)" 1461 1468)
  ("(distance(agent1 wall2) up)" 1468 1513)
  ("(distance(agent1 wall2) stable)" 1513 1520)
  ("(distance(agent1 wall2) down)" 1520 1572)
  ("(distance(agent1 wall2) stable)" 1572 1578)
  ("(distance(agent1 wall2) up)" 1578 1622)
  ("(distance(agent1 wall2) stable)" 1622 1629)
  ("(distance(agent1 wall2) down)" 1629 1680)
  ("(distance(agent1 wall2) stable)" 1680 1687)
  ("(distance(agent1 wall2) up)" 1687 1723)
  ("(distance(agent1 wall2) stable)" 1723 1729)
  ("(distance(agent1 wall2) down)" 1729 1768)
  ("(distance(agent1 wall2) stable)" 1768 1774)
  ("(distance(agent1 wall2) up)" 1774 1816)
  ("(distance(agent1 wall2) stable)" 1816 1822)
  ("(distance(agent1 wall2) down)" 1822 1869)
  ("(distance(agent1 wall2) stable)" 1869 1875)
  ("(distance(agent1 wall2) up)" 1875 1920)
  ("(distance(agent1 wall2) stable)" 1920 1925)
  ("(distance(agent1 wall2) down)" 1925 1978)
  ("(distance(agent1 wall2) stable)" 1978 1983)
  ("(distance(agent1 wall2) up)" 1983 2028)
  ("(distance(agent1 wall2) stable)" 2028 2034)
  ("(distance(agent1 wall2) down)" 2034 2088)
  ("(distance(agent1 wall2) stable)" 2088 2093)
  ("(distance(agent1 wall2) up)" 2093 2132)
  ("(distance(agent1 wall2) stable)" 2132 2138)
  ("(distance(agent1 wall2) down)" 2138 2186)
  ("(distance(agent1 wall2) stable)" 2186 2192)
  ("(distance(agent1 wall2) up)" 2192 2234)
  ("(distance(agent1 wall2) stable)" 2234 2240)
  ("(distance(agent1 wall2) down)" 2240 2310)
  ("(distance(agent1 wall2) stable)" 2310 2311)
  ("(distance(agent1 wall2) down)" 2311 2325)
  ("(relativeX(agent1 wall2) 5)" 414 556)
  ("(relativeX(agent1 wall2) 4)" 556 574)
  ("(relativeX(agent1 wall2) 3)" 574 588)
  ("(relativeX(agent1 wall2) 2)" 588 606)
  ("(relativeX(agent1 wall2) 1)" 606 893)
  ("(relativeX(agent1 wall2) 2)" 893 940)
  ("(relativeX(agent1 wall2) 3)" 940 1090)
  ("(relativeX(agent1 wall2) 4)" 1090 1114)
  ("(relativeX(agent1 wall2) 3)" 1114 1167)
  ("(relativeX(agent1 wall2) 4)" 1167 1234)
  ("(relativeX(agent1 wall2) 3)" 1234 1277)
  ("(relativeX(agent1 wall2) 4)" 1277 1337)
  ("(relativeX(agent1 wall2) 3)" 1337 1398)
  ("(relativeX(agent1 wall2) 4)" 1398 1425)
  ("(relativeX(agent1 wall2) 3)" 1425 1503)
  ("(relativeX(agent1 wall2) 4)" 1503 1528)
  ("(relativeX(agent1 wall2) 3)" 1528 2081)
  ("(relativeX(agent1 wall2) 2)" 2081 2100)
  ("(relativeX(agent1 wall2) 3)" 2100 2163)
  ("(relativeX(agent1 wall2) 2)" 2163 2213)
  ("(relativeX(agent1 wall2) 3)" 2213 2257)
  ("(relativeX(agent1 wall2) 2)" 2257 2325)
  ("(relativeX(agent1 wall2) up)" 415 654)
  ("(relativeX(agent1 wall2) stable)" 654 658)
  ("(relativeX(agent1 wall2) down)" 658 715)
  ("(relativeX(agent1 wall2) stable)" 715 719)
  ("(relativeX(agent1 wall2) up)" 719 804)
  ("(relativeX(agent1 wall2) stable)" 804 810)
  ("(relativeX(agent1 wall2) down)" 810 1003)
  ("(relativeX(agent1 wall2) stable)" 1003 1008)
  ("(relativeX(agent1 wall2) up)" 1008 1047)
  ("(relativeX(agent1 wall2) stable)" 1047 1054)
  ("(relativeX(agent1 wall2) down)" 1054 1099)
  ("(relativeX(agent1 wall2) stable)" 1099 1106)
  ("(relativeX(agent1 wall2) up)" 1106 1140)
  ("(relativeX(agent1 wall2) stable)" 1140 1148)
  ("(relativeX(agent1 wall2) down)" 1148 1198)
  ("(relativeX(agent1 wall2) stable)" 1198 1205)
  ("(relativeX(agent1 wall2) up)" 1205 1254)
  ("(relativeX(agent1 wall2) stable)" 1254 1260)
  ("(relativeX(agent1 wall2) down)" 1260 1306)
  ("(relativeX(agent1 wall2) stable)" 1306 1312)
  ("(relativeX(agent1 wall2) up)" 1312 1363)
  ("(relativeX(agent1 wall2) stable)" 1363 1370)
  ("(relativeX(agent1 wall2) down)" 1370 1409)
  ("(relativeX(agent1 wall2) stable)" 1409 1416)
  ("(relativeX(agent1 wall2) up)" 1416 1461)
  ("(relativeX(agent1 wall2) stable)" 1461 1468)
  ("(relativeX(agent1 wall2) down)" 1468 1513)
  ("(relativeX(agent1 wall2) stable)" 1513 1520)
  ("(relativeX(agent1 wall2) up)" 1520 1572)
  ("(relativeX(agent1 wall2) stable)" 1572 1578)
  ("(relativeX(agent1 wall2) down)" 1578 1622)
  ("(relativeX(agent1 wall2) stable)" 1622 1629)
  ("(relativeX(agent1 wall2) up)" 1629 1680)
  ("(relativeX(agent1 wall2) stable)" 1680 1687)
  ("(relativeX(agent1 wall2) down)" 1687 1723)
  ("(relativeX(agent1 wall2) stable)" 1723 1729)
  ("(relativeX(agent1 wall2) up)" 1729 1768)
  ("(relativeX(agent1 wall2) stable)" 1768 1774)
  ("(relativeX(agent1 wall2) down)" 1774 1816)
  ("(relativeX(agent1 wall2) stable)" 1816 1822)
  ("(relativeX(agent1 wall2) up)" 1822 1869)
  ("(relativeX(agent1 wall2) stable)" 1869 1875)
  ("(relativeX(agent1 wall2) down)" 1875 1920)
  ("(relativeX(agent1 wall2) stable)" 1920 1925)
  ("(relativeX(agent1 wall2) up)" 1925 1978)
  ("(relativeX(agent1 wall2) stable)" 1978 1983)
  ("(relativeX(agent1 wall2) down)" 1983 2028)
  ("(relativeX(agent1 wall2) stable)" 2028 2034)
  ("(relativeX(agent1 wall2) up)" 2034 2088)
  ("(relativeX(agent1 wall2) stable)" 2088 2093)
  ("(relativeX(agent1 wall2) down)" 2093 2132)
  ("(relativeX(agent1 wall2) stable)" 2132 2138)
  ("(relativeX(agent1 wall2) up)" 2138 2186)
  ("(relativeX(agent1 wall2) stable)" 2186 2192)
  ("(relativeX(agent1 wall2) down)" 2192 2234)
  ("(relativeX(agent1 wall2) stable)" 2234 2240)
  ("(relativeX(agent1 wall2) up)" 2240 2310)
  ("(relativeX(agent1 wall2) stable)" 2310 2311)
  ("(relativeX(agent1 wall2) up)" 2311 2325)
  ("(relativeY(agent1 wall2) 1)" 414 528)
  ("(relativeY(agent1 wall2) 2)" 528 544)
  ("(relativeY(agent1 wall2) 3)" 544 559)
  ("(relativeY(agent1 wall2) 4)" 559 578)
  ("(relativeY(agent1 wall2) 5)" 578 795)
  ("(relativeY(agent1 wall2) 4)" 795 891)
  ("(relativeY(agent1 wall2) 3)" 891 933)
  ("(relativeY(agent1 wall2) 4)" 933 973)
  ("(relativeY(agent1 wall2) 3)" 973 1030)
  ("(relativeY(agent1 wall2) 4)" 1030 1065)
  ("(relativeY(agent1 wall2) 3)" 1065 1129)
  ("(relativeY(agent1 wall2) 4)" 1129 1164)
  ("(relativeY(agent1 wall2) 3)" 1164 1239)
  ("(relativeY(agent1 wall2) 4)" 1239 1271)
  ("(relativeY(agent1 wall2) 3)" 1271 1348)
  ("(relativeY(agent1 wall2) 4)" 1348 1381)
  ("(relativeY(agent1 wall2) 3)" 1381 1446)
  ("(relativeY(agent1 wall2) 4)" 1446 1478)
  ("(relativeY(agent1 wall2) 3)" 1478 1558)
  ("(relativeY(agent1 wall2) 4)" 1558 1587)
  ("(relativeY(agent1 wall2) 3)" 1587 1670)
  ("(relativeY(agent1 wall2) 4)" 1670 1693)
  ("(relativeY(agent1 wall2) 3)" 1693 1806)
  ("(relativeY(agent1 wall2) 2)" 1806 1836)
  ("(relativeY(agent1 wall2) 3)" 1836 1898)
  ("(relativeY(agent1 wall2) 2)" 1898 1951)
  ("(relativeY(agent1 wall2) 3)" 1951 2004)
  ("(relativeY(agent1 wall2) 2)" 2004 2061)
  ("(relativeY(agent1 wall2) 3)" 2061 2116)
  ("(relativeY(agent1 wall2) 2)" 2116 2158)
  ("(relativeY(agent1 wall2) 3)" 2158 2212)
  ("(relativeY(agent1 wall2) 2)" 2212 2264)
  ("(relativeY(agent1 wall2) 3)" 2264 2325)
  ("(relativeY(agent1 wall2) down)" 415 641)
  ("(relativeY(agent1 wall2) stable)" 641 644)
  ("(relativeY(agent1 wall2) up)" 644 742)
  ("(relativeY(agent1 wall2) stable)" 742 760)
  ("(relativeY(agent1 wall2) up)" 760 912)
  ("(relativeY(agent1 wall2) stable)" 912 915)
  ("(relativeY(agent1 wall2) down)" 915 953)
  ("(relativeY(agent1 wall2) stable)" 953 956)
  ("(relativeY(agent1 wall2) up)" 956 1002)
  ("(relativeY(agent1 wall2) stable)" 1002 1004)
  ("(relativeY(agent1 wall2) down)" 1004 1047)
  ("(relativeY(agent1 wall2) stable)" 1047 1050)
  ("(relativeY(agent1 wall2) up)" 1050 1097)
  ("(relativeY(agent1 wall2) stable)" 1097 1100)
  ("(relativeY(agent1 wall2) down)" 1100 1147)
  ("(relativeY(agent1 wall2) stable)" 1147 1149)
  ("(relativeY(agent1 wall2) up)" 1149 1201)
  ("(relativeY(agent1 wall2) stable)" 1201 1203)
  ("(relativeY(agent1 wall2) down)" 1203 1255)
  ("(relativeY(agent1 wall2) stable)" 1255 1257)
  ("(relativeY(agent1 wall2) up)" 1257 1309)
  ("(relativeY(agent1 wall2) stable)" 1309 1312)
  ("(relativeY(agent1 wall2) down)" 1312 1364)
  ("(relativeY(agent1 wall2) stable)" 1364 1366)
  ("(relativeY(agent1 wall2) up)" 1366 1413)
  ("(relativeY(agent1 wall2) stable)" 1413 1415)
  ("(relativeY(agent1 wall2) down)" 1415 1462)
  ("(relativeY(agent1 wall2) stable)" 1462 1465)
  ("(relativeY(agent1 wall2) up)" 1465 1517)
  ("(relativeY(agent1 wall2) stable)" 1517 1520)
  ("(relativeY(agent1 wall2) down)" 1520 1573)
  ("(relativeY(agent1 wall2) stable)" 1573 1575)
  ("(relativeY(agent1 wall2) up)" 1575 1627)
  ("(relativeY(agent1 wall2) stable)" 1627 1629)
  ("(relativeY(agent1 wall2) down)" 1629 1681)
  ("(relativeY(agent1 wall2) stable)" 1681 1683)
  ("(relativeY(agent1 wall2) up)" 1683 1727)
  ("(relativeY(agent1 wall2) stable)" 1727 1730)
  ("(relativeY(agent1 wall2) down)" 1730 1768)
  ("(relativeY(agent1 wall2) stable)" 1768 1770)
  ("(relativeY(agent1 wall2) up)" 1770 1821)
  ("(relativeY(agent1 wall2) stable)" 1821 1823)
  ("(relativeY(agent1 wall2) down)" 1823 1869)
  ("(relativeY(agent1 wall2) stable)" 1869 1871)
  ("(relativeY(agent1 wall2) up)" 1871 1925)
  ("(relativeY(agent1 wall2) stable)" 1925 1926)
  ("(relativeY(agent1 wall2) down)" 1926 1978)
  ("(relativeY(agent1 wall2) stable)" 1978 1980)
  ("(relativeY(agent1 wall2) up)" 1980 2033)
  ("(relativeY(agent1 wall2) stable)" 2033 2034)
  ("(relativeY(agent1 wall2) down)" 2034 2088)
  ("(relativeY(agent1 wall2) stable)" 2088 2090)
  ("(relativeY(agent1 wall2) up)" 2090 2137)
  ("(relativeY(agent1 wall2) stable)" 2137 2139)
  ("(relativeY(agent1 wall2) down)" 2139 2186)
  ("(relativeY(agent1 wall2) stable)" 2186 2188)
  ("(relativeY(agent1 wall2) up)" 2188 2239)
  ("(relativeY(agent1 wall2) stable)" 2239 2240)
  ("(relativeY(agent1 wall2) down)" 2240 2304)
  ("(relativeY(agent1 wall2) stable)" 2304 2308)
  ("(relativeY(agent1 wall2) up)" 2308 2315)
  ("(relativeY(agent1 wall2) stable)" 2315 2321)
  ("(relativeY(agent1 wall2) down)" 2321 2325)
  ("(x(wall3) 3)" 433 2325)
  ("(x(wall3) stable)" 434 2325)
  ("(y(wall3) 3)" 433 2325)
  ("(y(wall3) stable)" 434 2325)
  ("(speed(wall3) 3)" 433 2325)
  ("(speed(wall3) stable)" 434 2325)
  ("(heading(wall3) 3)" 458 2300)
  ("(heading(wall3) stable)" 459 2300)
  ("novel(agent1 wall3)" 409 489)
  ("(distance(agent1 wall3) 1)" 433 532)
  ("(distance(agent1 wall3) 2)" 532 547)
  ("(distance(agent1 wall3) 3)" 547 560)
  ("(distance(agent1 wall3) 4)" 560 576)
  ("(distance(agent1 wall3) 5)" 576 801)
  ("(distance(agent1 wall3) 4)" 801 889)
  ("(distance(agent1 wall3) 3)" 889 935)
  ("(distance(agent1 wall3) 4)" 935 971)
  ("(distance(agent1 wall3) 3)" 971 1032)
  ("(distance(agent1 wall3) 4)" 1032 1064)
  ("(distance(agent1 wall3) 3)" 1064 1130)
  ("(distance(agent1 wall3) 4)" 1130 1163)
  ("(distance(agent1 wall3) 3)" 1163 1198)
  ("(distance(agent1 wall3) 2)" 1198 1206)
  ("(distance(agent1 wall3) 3)" 1206 1240)
  ("(distance(agent1 wall3) 4)" 1240 1270)
  ("(distance(agent1 wall3) 3)" 1270 1301)
  ("(distance(agent1 wall3) 2)" 1301 1318)
  ("(distance(agent1 wall3) 3)" 1318 1350)
  ("(distance(agent1 wall3) 4)" 1350 1380)
  ("(distance(agent1 wall3) 3)" 1380 1448)
  ("(distance(agent1 wall3) 4)" 1448 1477)
  ("(distance(agent1 wall3) 3)" 1477 1508)
  ("(distance(agent1 wall3) 2)" 1508 1528)
  ("(distance(agent1 wall3) 3)" 1528 1559)
  ("(distance(agent1 wall3) 4)" 1559 1586)
  ("(distance(agent1 wall3) 3)" 1586 1617)
  ("(distance(agent1 wall3) 2)" 1617 1638)
  ("(distance(agent1 wall3) 3)" 1638 1672)
  ("(distance(agent1 wall3) 4)" 1672 1691)
  ("(distance(agent1 wall3) 3)" 1691 1800)
  ("(distance(agent1 wall3) 2)" 1800 1841)
  ("(distance(agent1 wall3) 3)" 1841 1894)
  ("(distance(agent1 wall3) 2)" 1894 1955)
  ("(distance(agent1 wall3) 3)" 1955 2000)
  ("(distance(agent1 wall3) 2)" 2000 2066)
  ("(distance(agent1 wall3) 3)" 2066 2111)
  ("(distance(agent1 wall3) 2)" 2111 2163)
  ("(distance(agent1 wall3) 3)" 2163 2208)
  ("(distance(agent1 wall3) 2)" 2208 2269)
  ("(distance(agent1 wall3) 3)" 2269 2325)
  ("(distance(agent1 wall3) down)" 434 641)
  ("(distance(agent1 wall3) stable)" 641 644)
  ("(distance(agent1 wall3) up)" 644 742)
  ("(distance(agent1 wall3) stable)" 742 759)
  ("(distance(agent1 wall3) up)" 759 912)
  ("(distance(agent1 wall3) stable)" 912 915)
  ("(distance(agent1 wall3) down)" 915 953)
  ("(distance(agent1 wall3) stable)" 953 956)
  ("(distance(agent1 wall3) up)" 956 1002)
  ("(distance(agent1 wall3) stable)" 1002 1004)
  ("(distance(agent1 wall3) down)" 1004 1047)
  ("(distance(agent1 wall3) stable)" 1047 1050)
  ("(distance(agent1 wall3) up)" 1050 1097)
  ("(distance(agent1 wall3) stable)" 1097 1099)
  ("(distance(agent1 wall3) down)" 1099 1147)
  ("(distance(agent1 wall3) stable)" 1147 1149)
  ("(distance(agent1 wall3) up)" 1149 1201)
  ("(distance(agent1 wall3) stable)" 1201 1203)
  ("(distance(agent1 wall3) down)" 1203 1255)
  ("(distance(agent1 wall3) stable)" 1255 1257)
  ("(distance(agent1 wall3) up)" 1257 1309)
  ("(distance(agent1 wall3) stable)" 1309 1311)
  ("(distance(agent1 wall3) down)" 1311 1364)
  ("(distance(agent1 wall3) stable)" 1364 1366)
  ("(distance(agent1 wall3) up)" 1366 1413)
  ("(distance(agent1 wall3) stable)" 1413 1415)
  ("(distance(agent1 wall3) down)" 1415 1462)
  ("(distance(agent1 wall3) stable)" 1462 1464)
  ("(distance(agent1 wall3) up)" 1464 1517)
  ("(distance(agent1 wall3) stable)" 1517 1519)
  ("(distance(agent1 wall3) down)" 1519 1573)
  ("(distance(agent1 wall3) stable)" 1573 1575)
  ("(distance(agent1 wall3) up)" 1575 1627)
  ("(distance(agent1 wall3) stable)" 1627 1629)
  ("(distance(agent1 wall3) down)" 1629 1681)
  ("(distance(agent1 wall3) stable)" 1681 1683)
  ("(distance(agent1 wall3) up)" 1683 1728)
  ("(distance(agent1 wall3) stable)" 1728 1730)
  ("(distance(agent1 wall3) down)" 1730 1768)
  ("(distance(agent1 wall3) stable)" 1768 1770)
  ("(distance(agent1 wall3) up)" 1770 1821)
  ("(distance(agent1 wall3) stable)" 1821 1823)
  ("(distance(agent1 wall3) down)" 1823 1869)
  ("(distance(agent1 wall3) stable)" 1869 1871)
  ("(distance(agent1 wall3) up)" 1871 1925)
  ("(distance(agent1 wall3) stable)" 1925 1926)
  ("(distance(agent1 wall3) down)" 1926 1978)
  ("(distance(agent1 wall3) stable)" 1978 1980)
  ("(distance(agent1 wall3) up)" 1980 2033)
  ("(distance(agent1 wall3) stable)" 2033 2034)
  ("(distance(agent1 wall3) down)" 2034 2088)
  ("(distance(agent1 wall3) stable)" 2088 2090)
  ("(distance(agent1 wall3) up)" 2090 2137)
  ("(distance(agent1 wall3) stable)" 2137 2139)
  ("(distance(agent1 wall3) down)" 2139 2186)
  ("(distance(agent1 wall3) stable)" 2186 2188)
  ("(distance(agent1 wall3) up)" 2188 2239)
  ("(distance(agent1 wall3) stable)" 2239 2240)
  ("(distance(agent1 wall3) down)" 2240 2304)
  ("(distance(agent1 wall3) stable)" 2304 2307)
  ("(distance(agent1 wall3) up)" 2307 2316)
  ("(distance(agent1 wall3) stable)" 2316 2320)
  ("(distance(agent1 wall3) down)" 2320 2325)
  ("(relativeX(agent1 wall3) 5)" 433 560)
  ("(relativeX(agent1 wall3) 4)" 560 576)
  ("(relativeX(agent1 wall3) 3)" 576 589)
  ("(relativeX(agent1 wall3) 2)" 589 605)
  ("(relativeX(agent1 wall3) 1)" 605 895)
  ("(relativeX(agent1 wall3) 2)" 895 938)
  ("(relativeX(agent1 wall3) 3)" 938 988)
  ("(relativeX(agent1 wall3) 4)" 988 1023)
  ("(relativeX(agent1 wall3) 3)" 1023 1076)
  ("(relativeX(agent1 wall3) 4)" 1076 1132)
  ("(relativeX(agent1 wall3) 3)" 1132 1154)
  ("(relativeX(agent1 wall3) 4)" 1154 1250)
  ("(relativeX(agent1 wall3) 3)" 1250 1263)
  ("(relativeX(agent1 wall3) 4)" 1263 1348)
  ("(relativeX(agent1 wall3) 3)" 1348 1384)
  ("(relativeX(agent1 wall3) 4)" 1384 1437)
  ("(relativeX(agent1 wall3) 3)" 1437 1490)
  ("(relativeX(agent1 wall3) 4)" 1490 1540)
  ("(relativeX(agent1 wall3) 3)" 1540 1614)
  ("(relativeX(agent1 wall3) 4)" 1614 1636)
  ("(relativeX(agent1 wall3) 3)" 1636 2166)
  ("(relativeX(agent1 wall3) 2)" 2166 2210)
  ("(relativeX(agent1 wall3) 3)" 2210 2260)
  ("(relativeX(agent1 wall3) 2)" 2260 2325)
  ("(relativeX(agent1 wall3) up)" 434 654)
  ("(relativeX(agent1 wall3) stable)" 654 658)
  ("(relativeX(agent1 wall3) down)" 658 715)
  ("(relativeX(agent1 wall3) stable)" 715 719)
  ("(relativeX(agent1 wall3) up)" 719 804)
  ("(relativeX(agent1 wall3) stable)" 804 809)
  ("(relativeX(agent1 wall3) down)" 809 1003)
  ("(relativeX(agent1 wall3) stable)" 1003 1008)
  ("(relativeX(agent1 wall3) up)" 1008 1048)
  ("(relativeX(agent1 wall3) stable)" 1048 1054)
  ("(relativeX(agent1 wall3) down)" 1054 1099)
  ("(relativeX(agent1 wall3) stable)" 1099 1106)
  ("(relativeX(agent1 wall3) up)" 1106 1140)
  ("(relativeX(agent1 wall3) stable)" 1140 1148)
  ("(relativeX(agent1 wall3) down)" 1148 1199)
  ("(relativeX(agent1 wall3) stable)" 1199 1205)
  ("(relativeX(agent1 wall3) up)" 1205 1254)
  ("(relativeX(agent1 wall3) stable)" 1254 1260)
  ("(relativeX(agent1 wall3) down)" 1260 1306)
  ("(relativeX(agent1 wall3) stable)" 1306 1312)
  ("(relativeX(agent1 wall3) up)" 1312 1363)
  ("(relativeX(agent1 wall3) stable)" 1363 1369)
  ("(relativeX(agent1 wall3) down)" 1369 1409)
  ("(relativeX(agent1 wall3) stable)" 1409 1416)
  ("(relativeX(agent1 wall3) up)" 1416 1462)
  ("(relativeX(agent1 wall3) stable)" 1462 1468)
  ("(relativeX(agent1 wall3) down)" 1468 1513)
  ("(relativeX(agent1 wall3) stable)" 1513 1519)
  ("(relativeX(agent1 wall3) up)" 1519 1572)
  ("(relativeX(agent1 wall3) stable)" 1572 1578)
  ("(relativeX(agent1 wall3) down)" 1578 1623)
  ("(relativeX(agent1 wall3) stable)" 1623 1629)
  ("(relativeX(agent1 wall3) up)" 1629 1681)
  ("(relativeX(agent1 wall3) stable)" 1681 1687)
  ("(relativeX(agent1 wall3) down)" 1687 1723)
  ("(relativeX(agent1 wall3) stable)" 1723 1729)
  ("(relativeX(agent1 wall3) up)" 1729 1768)
  ("(relativeX(agent1 wall3) stable)" 1768 1774)
  ("(relativeX(agent1 wall3) down)" 1774 1817)
  ("(relativeX(agent1 wall3) stable)" 1817 1822)
  ("(relativeX(agent1 wall3) up)" 1822 1870)
  ("(relativeX(agent1 wall3) stable)" 1870 1874)
  ("(relativeX(agent1 wall3) down)" 1874 1920)
  ("(relativeX(agent1 wall3) stable)" 1920 1925)
  ("(relativeX(agent1 wall3) up)" 1925 1979)
  ("(relativeX(agent1 wall3) stable)" 1979 1983)
  ("(relativeX(agent1 wall3) down)" 1983 2028)
  ("(relativeX(agent1 wall3) stable)" 2028 2033)
  ("(relativeX(agent1 wall3) up)" 2033 2088)
  ("(relativeX(agent1 wall3) stable)" 2088 2093)
  ("(relativeX(agent1 wall3) down)" 2093 2133)
  ("(relativeX(agent1 wall3) stable)" 2133 2138)
  ("(relativeX(agent1 wall3) up)" 2138 2186)
  ("(relativeX(agent1 wall3) stable)" 2186 2191)
  ("(relativeX(agent1 wall3) down)" 2191 2234)
  ("(relativeX(agent1 wall3) stable)" 2234 2239)
  ("(relativeX(agent1 wall3) up)" 2239 2325)
  ("(relativeY(agent1 wall3) 1)" 433 532)
  ("(relativeY(agent1 wall3) 2)" 532 547)
  ("(relativeY(agent1 wall3) 3)" 547 560)
  ("(relativeY(agent1 wall3) 4)" 560 576)
  ("(relativeY(agent1 wall3) 5)" 576 801)
  ("(relativeY(agent1 wall3) 4)" 801 889)
  ("(relativeY(agent1 wall3) 3)" 889 935)
  ("(relativeY(agent1 wall3) 4)" 935 971)
  ("(relativeY(agent1 wall3) 3)" 971 1032)
  ("(relativeY(agent1 wall3) 4)" 1032 1064)
  ("(relativeY(agent1 wall3) 3)" 1064 1130)
  ("(relativeY(agent1 wall3) 4)" 1130 1163)
  ("(relativeY(agent1 wall3) 3)" 1163 1198)
  ("(relativeY(agent1 wall3) 2)" 1198 1206)
  ("(relativeY(agent1 wall3) 3)" 1206 1240)
  ("(relativeY(agent1 wall3) 4)" 1240 1270)
  ("(relativeY(agent1 wall3) 3)" 1270 1301)
  ("(relativeY(agent1 wall3) 2)" 1301 1318)
  ("(relativeY(agent1 wall3) 3)" 1318 1350)
  ("(relativeY(agent1 wall3) 4)" 1350 1380)
  ("(relativeY(agent1 wall3) 3)" 1380 1448)
  ("(relativeY(agent1 wall3) 4)" 1448 1477)
  ("(relativeY(agent1 wall3) 3)" 1477 1508)
  ("(relativeY(agent1 wall3) 2)" 1508 1528)
  ("(relativeY(agent1 wall3) 3)" 1528 1559)
  ("(relativeY(agent1 wall3) 4)" 1559 1586)
  ("(relativeY(agent1 wall3) 3)" 1586 1617)
  ("(relativeY(agent1 wall3) 2)" 1617 1638)
  ("(relativeY(agent1 wall3) 3)" 1638 1672)
  ("(relativeY(agent1 wall3) 4)" 1672 1691)
  ("(relativeY(agent1 wall3) 3)" 1691 1800)
  ("(relativeY(agent1 wall3) 2)" 1800 1841)
  ("(relativeY(agent1 wall3) 3)" 1841 1894)
  ("(relativeY(agent1 wall3) 2)" 1894 1955)
  ("(relativeY(agent1 wall3) 3)" 1955 2000)
  ("(relativeY(agent1 wall3) 2)" 2000 2066)
  ("(relativeY(agent1 wall3) 3)" 2066 2111)
  ("(relativeY(agent1 wall3) 2)" 2111 2163)
  ("(relativeY(agent1 wall3) 3)" 2163 2208)
  ("(relativeY(agent1 wall3) 2)" 2208 2269)
  ("(relativeY(agent1 wall3) 3)" 2269 2325)
  ("(relativeY(agent1 wall3) down)" 434 641)
  ("(relativeY(agent1 wall3) stable)" 641 644)
  ("(relativeY(agent1 wall3) up)" 644 742)
  ("(relativeY(agent1 wall3) stable)" 742 759)
  ("(relativeY(agent1 wall3) up)" 759 912)
  ("(relativeY(agent1 wall3) stable)" 912 915)
  ("(relativeY(agent1 wall3) down)" 915 953)
  ("(relativeY(agent1 wall3) stable)" 953 956)
  ("(relativeY(agent1 wall3) up)" 956 1002)
  ("(relativeY(agent1 wall3) stable)" 1002 1004)
  ("(relativeY(agent1 wall3) down)" 1004 1047)
  ("(relativeY(agent1 wall3) stable)" 1047 1050)
  ("(relativeY(agent1 wall3) up)" 1050 1097)
  ("(relativeY(agent1 wall3) stable)" 1097 1099)
  ("(relativeY(agent1 wall3) down)" 1099 1147)
  ("(relativeY(agent1 wall3) stable)" 1147 1149)
  ("(relativeY(agent1 wall3) up)" 1149 1201)
  ("(relativeY(agent1 wall3) stable)" 1201 1203)
  ("(relativeY(agent1 wall3) down)" 1203 1255)
  ("(relativeY(agent1 wall3) stable)" 1255 1257)
  ("(relativeY(agent1 wall3) up)" 1257 1309)
  ("(relativeY(agent1 wall3) stable)" 1309 1311)
  ("(relativeY(agent1 wall3) down)" 1311 1364)
  ("(relativeY(agent1 wall3) stable)" 1364 1366)
  ("(relativeY(agent1 wall3) up)" 1366 1413)
  ("(relativeY(agent1 wall3) stable)" 1413 1415)
  ("(relativeY(agent1 wall3) down)" 1415 1462)
  ("(relativeY(agent1 wall3) stable)" 1462 1464)
  ("(relativeY(agent1 wall3) up)" 1464 1517)
  ("(relativeY(agent1 wall3) stable)" 1517 1519)
  ("(relativeY(agent1 wall3) down)" 1519 1573)
  ("(relativeY(agent1 wall3) stable)" 1573 1575)
  ("(relativeY(agent1 wall3) up)" 1575 1627)
  ("(relativeY(agent1 wall3) stable)" 1627 1629)
  ("(relativeY(agent1 wall3) down)" 1629 1681)
  ("(relativeY(agent1 wall3) stable)" 1681 1683)
  ("(relativeY(agent1 wall3) up)" 1683 1728)
  ("(relativeY(agent1 wall3) stable)" 1728 1730)
  ("(relativeY(agent1 wall3) down)" 1730 1768)
  ("(relativeY(agent1 wall3) stable)" 1768 1770)
  ("(relativeY(agent1 wall3) up)" 1770 1821)
  ("(relativeY(agent1 wall3) stable)" 1821 1823)
  ("(relativeY(agent1 wall3) down)" 1823 1869)
  ("(relativeY(agent1 wall3) stable)" 1869 1871)
  ("(relativeY(agent1 wall3) up)" 1871 1925)
  ("(relativeY(agent1 wall3) stable)" 1925 1926)
  ("(relativeY(agent1 wall3) down)" 1926 1978)
  ("(relativeY(agent1 wall3) stable)" 1978 1980)
  ("(relativeY(agent1 wall3) up)" 1980 2033)
  ("(relativeY(agent1 wall3) stable)" 2033 2034)
  ("(relativeY(agent1 wall3) down)" 2034 2088)
  ("(relativeY(agent1 wall3) stable)" 2088 2090)
  ("(relativeY(agent1 wall3) up)" 2090 2137)
  ("(relativeY(agent1 wall3) stable)" 2137 2139)
  ("(relativeY(agent1 wall3) down)" 2139 2186)
  ("(relativeY(agent1 wall3) stable)" 2186 2188)
  ("(relativeY(agent1 wall3) up)" 2188 2239)
  ("(relativeY(agent1 wall3) stable)" 2239 2240)
  ("(relativeY(agent1 wall3) down)" 2240 2304)
  ("(relativeY(agent1 wall3) stable)" 2304 2307)
  ("(relativeY(agent1 wall3) up)" 2307 2316)
  ("(relativeY(agent1 wall3) stable)" 2316 2320)
  ("(relativeY(agent1 wall3) down)" 2320 2325)
 ))
